CN102872541A - Radiotherapy bed device - Google Patents

Radiotherapy bed device Download PDF

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Publication number
CN102872541A
CN102872541A CN2012103706296A CN201210370629A CN102872541A CN 102872541 A CN102872541 A CN 102872541A CN 2012103706296 A CN2012103706296 A CN 2012103706296A CN 201210370629 A CN201210370629 A CN 201210370629A CN 102872541 A CN102872541 A CN 102872541A
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CN
China
Prior art keywords
mechanical arm
bed surface
cradle head
treatment
intelligent
Prior art date
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Pending
Application number
CN2012103706296A
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Chinese (zh)
Inventor
姚毅
董峰
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SUZHOU LINATECH MEDICAL TECHNOLOGY Co Ltd
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SUZHOU LINATECH MEDICAL TECHNOLOGY Co Ltd
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Priority to CN2012103706296A priority Critical patent/CN102872541A/en
Publication of CN102872541A publication Critical patent/CN102872541A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a radiotherapy bed device which comprises a therapeutic bed top, an intelligent mechanical arm and a visual tracking system. The intelligent mechanical arm comprises mechanical arms for bearing the therapeutic bed top and an intelligent positioning control device for controlling actions of the mechanical arms. The visual tracking system comprises two cameras, an intelligent positioning control device for controlling actions of the cameras and sensors mounted on the therapeutic bed top. The intelligent mechanical arm is used to place patients and the therapeutic bed top to a preset therapy position in an accelerator room, the visual tracking system can be used to guarantee positioning precision of the patients, work efficiency is improved greatly, and service efficiency of an expensive accelerator is also improved.

Description

A kind of radiotherapy bed apparatus
Technical field
The present invention relates to a kind of armarium, a kind of radiotherapy bed apparatus that particularly is used with the accelerator therapy instrument.
Background technology
When numerous ray class armarium are treated, need first patient moved to from sick bed and pass on the car, adopt again manually patient is shifted onto in the therapeutic 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 then therapeutic equipments is started working, and patient is treated.Existing therapeutic bed roughly is a cuboid that is provided with rotary apparatus and can moves horizontally at Z axis along guide rail, because the position of installing is closer from accelerator (radiotherapy main frame), therefore not too convenient in transporting patient, the form of cuboid, also affect doctor's erect-position, and not too attractive in appearance.
Summary of the invention
For addressing the above problem, the object of the present invention is to provide a kind ofly can conveniently deliver patient, efficient is high and do not affect doctor's erect-position and succinct radiotherapy bed apparatus attractive in appearance.
For achieving the above object, technical scheme of the present invention is:
A kind of radiotherapy bed apparatus comprises:
Treatment bed surface, intelligent machine arm and a Visual Tracking System;
Described intelligent machine arm comprises the intelligent position control device be used to the mechanical arm that carries described treatment bed surface and the described mechanical arm action of control; Described Visual Tracking System comprises the camera calibration level control device of at least one video camera and the described video camera action of control.
Preferably, described mechanical arm comprises makes treatment bed surface arrive the Z axis coordinate Z axis adjusting device parallel with Z axis with making the treatment bed surface axis of setting, and making treatment bed surface arrive the X-axis adjusting device of the X-axis coordinate of setting, described intelligent position control device is electrically connected with described Z axis adjusting device and X-axis adjusting device respectively.
Preferably, described mechanical arm comprise base, by cradle head be fixed in base the first mechanical arm, by cradle head be fixed in the first mechanical arm the second mechanical arm, by cradle head be fixed in the second mechanical arm three-mechanical arm, by cradle head be fixed in three-mechanical arm the 4th mechanical arm, by cradle head be fixed in the 4th mechanical arm the 5th mechanical arm, be fixed in the 6th mechanical arm of the 5th mechanical arm by cradle head, and comprise and drive the driving device that each joint of mechanical arm rotates.
Preferably, described therapy tabletop is connected in the 6th mechanical arm tail end by cradle head.
Preferably, described Visual Tracking System also comprises sensor, and described sensor device is installed on the treatment bed surface.
Preferably, described video camera is installed on the sensor device for the treatment of bed surface by tracking, thereby whether the movement position of judging treatment bed surface satisfies Treatment need.
Preferably, the driving device that described each mechanical arm is provided with comprises electric control gear, is electrically connected and is subjected to the motor of its control, the speed change gear that is connected with described electric-motor drive with described electric control gear, and the driving wheel that is in transmission connection with described speed change gear, described electric control gear is electrically connected with described intelligent position control device.
Adopt the beneficial effect of the technical program to be: to utilize the intelligent machine arm that patient is carried to treatment position predetermined in the accelerator room, improved work efficiency and patient put the position motility, simultaneously, be positioned over treatment bed surface by the video camera real-time tracking, the position that feedback is relevant and the information of speed, thereby revise driving device and the control system of intelligent machine arm, put bit position precision and velocity accuracy thereby greatly improved patient, also greatly improved the service efficiency of work efficiency and expensive accelerator simultaneously.
Description of drawings
Fig. 1 is the sketch map of a kind of radiotherapy bed apparatus of the present invention embodiment 1;
Numeral and the represented corresponding component title of letter among Fig. 1:
11. base 120. first mechanical arm 121. first rotating shaft 122. second mechanical arm 123. second rotating shaft 124. three-mechanical arm 125. the 3rd rotating shaft 126. the 4th mechanical arm 127. the 4th rotating shaft 128. the 5th mechanical arm 129. the 5th rotating shaft 130. the 6th mechanical arm 131. the 6th rotating shaft 14. therapeutic bed bogey 15. treatment bed surface 160. first reference sensor 161. second reference sensor 162. the 3rd reference sensor 163. the 4th reference sensor 164. the 5th reference sensor 170. first video camera 171. second video cameras.
The specific embodiment
The present invention is further detailed explanation below in conjunction with the drawings and specific embodiments.
Embodiment 1,
As shown in Figure 1, a kind of radiotherapy bed apparatus comprises:
Treatment bed surface 15, intelligent machine arm and a Visual Tracking System.
Described intelligent machine arm comprises the intelligent position control device be used to the mechanical arm that carries described treatment bed surface 15 and the described mechanical arm action of control; Described Visual Tracking System comprises the camera calibration level control device of two video cameras (the first video camera 170 and the second video camera 171) and the described video camera action of control.
Described mechanical arm comprises makes treatment bed surface 15 arrive the Z axis coordinate Z axis adjusting device parallel with Z axis with making the treatment bed surface axis of setting, and making treatment bed surface 15 arrive the X-axis adjusting device of the X-axis coordinate of setting, described intelligent position control device is electrically connected with described Z axis adjusting device and X-axis adjusting device respectively.
Described mechanical arm comprises base 11, be fixed in by cradle head among the first mechanical arm 120(figure of base 11, this place cradle head comprises the first rotating shaft 121), be fixed in by cradle head among the second mechanical arm 122(figure of the first mechanical arm 120, this place cradle head comprises the second rotating shaft 123), be fixed in by cradle head among the three-mechanical arm 124(figure of the second mechanical arm 122, this place cradle head comprises the 3rd rotating shaft 125), be fixed in by cradle head among the 4th mechanical arm 125(figure of three-mechanical arm 124, this place cradle head comprises the 4th rotating shaft 127), be fixed in by cradle head among the 5th mechanical arm 128(figure of the 4th mechanical arm 126, this place cradle head comprises the 5th rotating shaft 129), be fixed in by cradle head among the 6th mechanical arm 130(figure of the 5th mechanical arm 128, this place cradle head comprises the 6th rotating shaft 131), and comprise the driving device that drives each joint of mechanical arm rotation.
Described therapy tabletop 15 is connected in the 6th mechanical arm 130 ends by cradle head.
Described Visual Tracking System comprises sensor and video camera, and described sensor device is installed on the treatment bed surface 15.In the present embodiment, sensor device comprises the first reference sensor 160, the second reference sensor 161, the 3rd reference sensor 162 and the 4th reference sensor 163, the 5th reference sensor 164, and first video camera 170 and the second video camera 171, described five reference sensors are installed on the as shown in Figure 1 position for the treatment of bed surface 15, shown in two video cameras install on therapeutic room's ceiling, thereby whether the movement position of judging treatment bed surface satisfies Treatment need.
The driving device that described each mechanical arm is provided with comprises electric control gear, is electrically connected and is subjected to the motor of its control, the speed change gear that is connected with described electric-motor drive with described electric control gear, and the driving wheel that is in transmission connection with described speed change gear, described electric control gear is electrically connected with described intelligent position control device.Because belong to existing driving control category, repeat no more.
Described intelligent machine arm comprises six intelligent machine arms, and namely six degree of freedom intelligent machine arm can be realized seesawing and elevating movement of directions X; The side-to-side movement of Y-direction and swing; The moving both vertically and rotating of Z direction.Present existing radiation therapeutical bed generally comprises Three Degree Of Freedom intelligent machine arm or four-degree-of-freedom intelligent machine arm, its motion mode can only be realized the componental movement mode of six degree of freedom intelligent machine arm, is difficult to quick accurate location as six degree of freedom intelligent machine arm.
All the other embodiments consist essentially of following function part:
Treatment bed surface, intelligent machine arm and a Visual Tracking System;
Described intelligent machine arm comprises the intelligent position control device be used to the mechanical arm that carries described treatment bed surface and the described mechanical arm action of control; Described Visual Tracking System comprises the camera calibration level control device of at least one video camera and the described video camera action of control.
Described mechanical arm comprises makes treatment bed surface arrive the Z axis coordinate Z axis adjusting device parallel with Z axis with making the treatment bed surface axis of setting, and making treatment bed surface arrive the X-axis adjusting device of the X-axis coordinate of setting, described intelligent position control device is electrically connected with described Z axis adjusting device and X-axis adjusting device respectively.Z axis and X-axis move and belong to horizontal movement, can be rectilinear motions, also can be to rotatablely move, and Y-axis all belongs to prior art for moving both vertically, and repeat no more, and major advantage is the intelligent position control device that is provided with the described mechanical arm action of control of intelligent controller; And described Visual Tracking System at least one video camera that comprises and the camera calibration level control device of controlling described video camera action.
In above-described embodiment, the video camera that is used for following the tracks of can arrange one, two or many as required.
Adopt the beneficial effect of the technical program to be: to utilize the intelligent machine arm that patient is carried to treatment position predetermined in the accelerator room, improved work efficiency and patient put the position motility, simultaneously, be positioned over treatment bed surface by the video camera real-time tracking, the position that feedback is relevant and the information of speed, thereby revise driving device and the control system of intelligent machine arm, put bit position precision and velocity accuracy thereby greatly improved patient, also greatly improved the service efficiency of work efficiency and expensive accelerator simultaneously.
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 (7)

1. a radiotherapy bed apparatus is characterized in that, comprising:
Treatment bed surface, intelligent machine arm and a Visual Tracking System;
Described intelligent machine arm comprises the intelligent position control device be used to the mechanical arm that carries described treatment bed surface and the described mechanical arm action of control; Described Visual Tracking System comprises the camera calibration level control device of at least one video camera and the described video camera action of control.
2. radiotherapy bed apparatus according to claim 1, it is characterized in that, described mechanical arm comprises makes treatment bed surface arrive the Z axis coordinate Z axis adjusting device parallel with Z axis with making the treatment bed surface axis of setting, and making treatment bed surface arrive the X-axis adjusting device of the X-axis coordinate of setting, described intelligent position control device is electrically connected with described Z axis adjusting device and X-axis adjusting device respectively.
3. radiotherapy bed apparatus according to claim 1, it is characterized in that, described mechanical arm comprises base, be fixed in the first mechanical arm of base by cradle head, be fixed in the second mechanical arm of the first mechanical arm by cradle head, be fixed in the three-mechanical arm of the second mechanical arm by cradle head, be fixed in the 4th mechanical arm of three-mechanical arm by cradle head, be fixed in the 5th mechanical arm of the 4th mechanical arm by cradle head, be fixed in the 6th mechanical arm of the 5th mechanical arm by cradle head, and comprise the driving device that drives each joint of mechanical arm rotation.
4. radiotherapy bed apparatus according to claim 3 is characterized in that, described therapy tabletop is connected in the 6th mechanical arm tail end by cradle head.
5. radiotherapy bed apparatus according to claim 4 is characterized in that, described Visual Tracking System also comprises sensor, and described sensor device is installed on the treatment bed surface.
6. radiotherapy bed apparatus according to claim 5 is characterized in that, described video camera is installed on the sensor device for the treatment of bed surface by tracking, thereby whether the movement position of judging treatment bed surface satisfies Treatment need.
7. radiotherapy bed apparatus according to claim 6, it is characterized in that, the driving device that described each mechanical arm is provided with comprises electric control gear, is electrically connected and is subjected to the motor of its control, the speed change gear that is connected with described electric-motor drive with described electric control gear, and the driving wheel that is in transmission connection with described speed change gear, described electric control gear is electrically connected with described intelligent position control device.
CN2012103706296A 2012-09-29 2012-09-29 Radiotherapy bed device Pending CN102872541A (en)

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Application Number Priority Date Filing Date Title
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CN102872541A true CN102872541A (en) 2013-01-16

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105664363A (en) * 2014-11-19 2016-06-15 张彦新 Inclinable position verification device
CN105920739A (en) * 2016-04-14 2016-09-07 四川大学 Therapeutic bed controller based on six-freedom-degree industrial mechanical arm
CN107854779A (en) * 2017-11-22 2018-03-30 中国科学院上海应用物理研究所 A kind of radiotherapy robot therapeutic bed of SCARA structures
DE102016220268A1 (en) * 2016-10-17 2018-04-19 Siemens Healthcare Gmbh Patient couch and patient care unit
CN110152211A (en) * 2019-06-12 2019-08-23 兰州理工大学 A kind of patient carries medical mechanical arm error compensation system and method
WO2023045017A1 (en) * 2021-09-26 2023-03-30 合肥中科离子医学技术装备有限公司 Positioning device for radiotherapy

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101217913A (en) * 2005-05-13 2008-07-09 艾可瑞公司 Robotic arm for patient positioning assembly
US20100237257A1 (en) * 2004-04-06 2010-09-23 Accuray. Inc. Patient positioning assembly
CN102553087A (en) * 2010-12-30 2012-07-11 苏州雷泰医疗科技有限公司 Automatic location device for hospital beds
CN202859924U (en) * 2012-09-29 2013-04-10 苏州雷泰医疗科技有限公司 Radiation treatment couch device

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100237257A1 (en) * 2004-04-06 2010-09-23 Accuray. Inc. Patient positioning assembly
CN101217913A (en) * 2005-05-13 2008-07-09 艾可瑞公司 Robotic arm for patient positioning assembly
CN102553087A (en) * 2010-12-30 2012-07-11 苏州雷泰医疗科技有限公司 Automatic location device for hospital beds
CN202859924U (en) * 2012-09-29 2013-04-10 苏州雷泰医疗科技有限公司 Radiation treatment couch device

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105664363A (en) * 2014-11-19 2016-06-15 张彦新 Inclinable position verification device
CN105920739A (en) * 2016-04-14 2016-09-07 四川大学 Therapeutic bed controller based on six-freedom-degree industrial mechanical arm
DE102016220268A1 (en) * 2016-10-17 2018-04-19 Siemens Healthcare Gmbh Patient couch and patient care unit
DE102016220268B4 (en) 2016-10-17 2018-10-18 Siemens Healthcare Gmbh Patient couch and patient care unit
CN107854779A (en) * 2017-11-22 2018-03-30 中国科学院上海应用物理研究所 A kind of radiotherapy robot therapeutic bed of SCARA structures
CN110152211A (en) * 2019-06-12 2019-08-23 兰州理工大学 A kind of patient carries medical mechanical arm error compensation system and method
WO2023045017A1 (en) * 2021-09-26 2023-03-30 合肥中科离子医学技术装备有限公司 Positioning device for radiotherapy

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Application publication date: 20130116