CN104491991A - Automatic positioning system for medical linear accelerator - Google Patents
Automatic positioning system for medical linear accelerator Download PDFInfo
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- CN104491991A CN104491991A CN201410765031.6A CN201410765031A CN104491991A CN 104491991 A CN104491991 A CN 104491991A CN 201410765031 A CN201410765031 A CN 201410765031A CN 104491991 A CN104491991 A CN 104491991A
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- bed
- self
- guide rail
- clinac
- oscillate position
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Abstract
The invention discloses an automatic positioning system for a medical linear accelerator. The automatic positioning system comprises an automatic positioning bed, a control device and a guide rail, wherein one end of the guide rail is arranged in a manner of being adjacent to the automatic positioning bed, and the other end of the guide rail is provided with a treating bed adjacent to the medical linear accelerator; the end part of the guide rail, which is adjacent to the treating bed, is provided with a mobile supporting frame crossing over the guide rail; the guide rail is provided with a trolley sliding along the guide rail; the automatic positioning bed comprises an acquisition device for reading identifiers on patients and a sliding mechanism which is arranged at the lower surface of a bed plate and is used for driving the bed plate to move horizontally; the mobile supporting frame comprises a fixed frame crossing over the guide rail and a lifting device which is arranged at the top part of the fixed frame and is used for horizontally and vertically moving to move the bed plate, sliding onto the trolley, onto the treating bed; the sliding mechanism, the acquisition device and the lifting device are respectively connected with the control device. The automatic positioning system disclosed by the invention has the advantages that the whole positioning process is automatically realized by equipment, and the positioning accuracy in radiotherapy is improved, so that the waiting time of the patients is reduced and the use efficiency of the medical linear accelerator is improved.
Description
Technical field
The present invention relates to medical instruments field, particularly a kind of clinac self-oscillate position system.
Background technology
Clinac has now been widely used in external-bean radiation therapy, substantially instead of at present and buys 60 theratrons, become the capital equipment of external-bean radiation therapy.In clinac pendulum position, generally adopt at present and manually put position, namely medical worker brings patient into machine room, and implements radiotherapy fix position on therapeutic bed after.On the one hand, in the process of pendulum position, medical worker is whether accurate and manual operation therapeutic bed by perusal patient body position, and pendulum position efficiency is low, reduces the service efficiency of clinac, can cause larger Set-up errors unavoidably simultaneously.On the other hand, medical worker, implementing each patient to need in therapeutic process repeatedly to enter machine room pendulum position, is subject to excessive irradiation unavoidably.
Summary of the invention
For above-mentioned deficiency of the prior art, the present invention is directed to the problem that in current clinac treatment patient procedure, artificial pendulum position efficiency is low and pendulum position precision is low, and provide a kind of clinac self-oscillate position system.
In order to reach foregoing invention object, the technical scheme that clinac self-oscillate position system of the present invention adopts is: comprise self-oscillate position bed, control device and guide rail; The contiguous self-oscillate position bed in guide rail one end is installed, the therapeutic bed that the contiguous clinac place of the other end installs; The end of the contiguous therapeutic bed of guide rail is provided with the movable support bracket across guide rail; Guide rail is placed with the dolly along slide;
Self-oscillate position bed comprises harvester for reading the patient be fixed on bed board mark with it and the lower surface being arranged on bed board, slide mechanism for driving bed board to move horizontally;
Movable support bracket comprise across guide rail fixed mount and be arranged on fixed mount top for level and vertical mobile, the lifting device moved to by the bed board slid on dolly on therapeutic bed; Slide mechanism, harvester are all connected with control device with lifting device.
Beneficial effect of the present invention is: medical worker's assisting patients is after the radiotherapy position that self-oscillate position bed keeps correct and fix the position of patient, start native system, harvester obtains the mark that patient needs radiation part, and it is passed to the therapeutic bed of clinac by control device; Starting slide mechanism with timed unit moves on the fixing head of dolly by bed board, and dolly takes patient to movable support bracket place, by lowering or hoisting gear, bed board is transferred to the therapeutic bed of clinac; The therapeutic community position that therapeutic bed is found out by pendulum position bed, sends into the centers such as clinac, implements radiotherapy by Patient labels position; Whole pendulum position process is realized automatically by equipment, improves the precision of pendulum position during radiotherapy.
When just doing radiotherapy as previous patient on therapeutic bed, medical worker can need the patient for the treatment of to implement self-oscillate position to the next one; After previous patient terminates and transfers to dolly, the next patient that pendulum position completes just enters clinac by guide rail and implements treatment; Thus decrease patient wait time, improve clinac service efficiency.
Detailed description of the invention
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for the common medical worker in this area, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 be together with clinac self-oscillate position system is placed in clinac after axonometric chart;
Fig. 2 is the axonometric chart of a self-oscillate position bed embodiment;
Fig. 3 is the axonometric chart of another embodiment of self-oscillate position bed;
Fig. 4 is the axonometric chart of dolly;
Fig. 5 is the upward view of the bed board of self-oscillate position bed.
Wherein, 1, self-oscillate position bed; 11, lathe bed; 12, bed board; 121, the first locating hole; 122, slideway; 13, slide mechanism; 131, chain; 132, connecting rod; 133, motor; 134, driven gear; 135, gear is transmitted; 2, dolly; 21, fixing head; 211, stopping means; 222, chute; 223, the second locating hole; 22, bracing frame; 23, expansion link; 24, hydraulic cylinder; 25, base; 3, guide rail; 4, therapeutic bed; 5, movable support bracket; 51, cylinder; 52, mechanical hand; 6, clinac.
Detailed description of the invention
Below the specific embodiment of the present invention is described; so that the medical worker of the art understands the present invention; but should be clear; the invention is not restricted to the scope of detailed description of the invention; to the common medical worker of the art; as long as various change to limit and in the spirit and scope of the present invention determined, these changes are apparent, and all innovation and creation utilizing the present invention to conceive are all at the row of protection in appended claim.
With reference to figure 1, Fig. 1 show clinac self-oscillate position system to be placed in clinac together with after axonometric chart; As shown in Figure 1, the technical scheme that the present embodiment adopts is:
This clinac self-oscillate position system comprises self-oscillate position bed 1, control device and guide rail 3; The contiguous self-oscillate position bed 1 in guide rail 3 one end is installed, the therapeutic bed 4 that contiguous clinac 6 place of the other end installs; The end of the contiguous therapeutic bed 4 of guide rail 3 is provided with the movable support bracket 5 across guide rail 3; Guide rail 3 is placed with the dolly 2 along slide.
Its middle guide 3 is as dolly 2 linear motion guide device, preferably between self-oscillate position bed 1 and therapeutic bed 4, be provided with two guide rails 3, respectively as the passage of dolly 2 input and output patient, wherein, a guide rail 3 is responsible for transporting the patient needing treatment, and another root guide rail 3 is responsible for transporting the patient treated.About the design of guide rail 3, for the difference of Different hospital clinac 6 machine room structure, difformity can be designed to.
Fig. 2 shows the axonometric chart of a self-oscillate position bed embodiment, as shown in Figure 2, self-oscillate position bed 1 comprises lathe bed 11, is arranged on the bed board 12 at lathe bed 11 top, is arranged on above lathe bed 11 for (patient is before carrying out radiotherapy to the patient be fixed on bed board 12 mark with it, need to carry out radiocurable part with it and do a mark, to find radiotherapy position rapidly when follow-up radiotherapy) carry out the harvester that reads and the lower surface being arranged on bed board 12, slide mechanism 13 for driving bed board 12 to move horizontally.
In an embodiment of invention, in order to precisely determine that patient identifies the position of relative bed board 12, patient body position's profile with it, harvester can adopt laser orientation instru-ment comparatively advanced at present.Laser orientation instru-ment by the information transmission determined to control device, the information transmission that patient identifies by control device is with it to therapeutic bed 4, after on the therapeutic bed 4 that patient is transported to clinac 6, the information that therapeutic bed 4 can be gathered by above-mentioned laser orientation instru-ment determines isocentric position, patient target area of irradiation rapidly.The accurate location identified with it about patient is realized automatically by equipment completely, and medical worker, without the need to repeatedly entering machine room pendulum position, avoids medical worker and is subject to excessive irradiation.
As shown in Figure 4, dolly 2 comprises the pulley be fixed on base 25, the fixing head 21 being arranged on the bracing frame 22 on base 25 and being positioned at above bracing frame 22; Bracing frame 22 is installed with the lowering or hoisting gear for driving fixing head 21 to be elevated; Base 25 is installed with for providing the electric machine moving power along guide rail 3 to dolly 2; Electric machine is a motor.Fixing head 21 offers the chute 222 for clamping bed board 12 inside biside plate.
As shown in Figure 5, the first locating hole 121 is provided with in the middle part of bed board 12.As shown in Figure 4, fixing head 21 is provided with the second locating hole 223 coordinated with the first locating hole 121; Second locating hole 223 place be provided with one to be connected with control device, when overlapping for the first locating hole 121 and the second locating hole 223 to control device one signal, to control the out-of-work sensor of slide mechanism 13.
Fixing head 21 is also provided with a stopping means 211 for fixed bed board 12 at chute 222 place of contiguous self-oscillate position bed 1 side; Stopping means 211 can be a limited block.Like this when the first locating hole 121 and the second locating hole 223 overlap, bed board 12 can be fixed on fixing head 21 by stopping means 211, and when moving to avoid dolly 2, bed board 12 is movable in chute 222.Stopping means 211 can be connected with control device, like this can so that bed board 12 put in place after automatically fixing.
Fig. 3 shows the axonometric chart of another embodiment of self-oscillate position bed, and as shown in Figure 3, slide mechanism 13 can comprise the movable connecting rod 132 installed of motor 133 and sidewall two ends, lathe bed 11 top be arranged on lathe bed 11; The two ends of connecting rod 132 are provided with at contiguous inside sidewalls place, lathe bed top transmits gear 135, and two transmission gears 135 on the same sidewall in lathe bed 11 top are set with chain 131; Connecting rod 132 is installed with the driven gear 134 carrying out power transmission with the driving gear on motor 133, because driven gear 134 and transmission gear 135 are coaxial, driven gear 134 drives transmission gear 135 to be synchronized with the movement, and then drives the bed board 12 on chain 131 to move.But slide mechanism 13 is also not limited to this kind of structure, as long as can realize bed board all passable from moving structure on the fixing head that lathe bed 11 moves to dolly 2 reposefully.
As shown in Figure 4, in one embodiment of the invention, lowering or hoisting gear can comprise the synchronous hydraulic cylinder 24 of two of being fixedly mounted on bracing frame 22 and one end is fixed on fixing head 21, the other end is fixed on expansion link 23 on bracing frame 22; The piston end of hydraulic cylinder 24 is fixed on fixing head 21.When the piston rod of hydraulic cylinder 24 moves upward, can drive fixing head 21 upwards, the expansion link 23 be simultaneously stretched provides support power can to fixing head 21.
After patient completes self-oscillate position, the fixing head 21 of dolly 2 is docked with the bed board 12 on self-oscillate position bed 1, by slide mechanism 13, patient and bed board 12 are transported on dolly 2 in the lump, dolly 2 moves to movable support bracket 5 position along guide rail 3, trigger hydraulic cylinder 24 to move, thus bed board 12 and patient are raised to the height of regulation.
As shown in Figure 1, movable support bracket 5 comprise across guide rail 3 fixed mount and be arranged on fixed mount top for level and vertical mobile, the lifting device moved to by the bed board 12 slid on dolly on therapeutic bed 4; Slide mechanism 13, harvester, lowering or hoisting gear, electric machine are all connected with control device with lifting device.
As shown in Figure 1, in one embodiment of the invention, lifting device can comprise the slide rail being arranged on fixed mount top, the cylinder 51 be arranged on slide rail, the mechanical hand 52 be connected with cylinder 51 and be connected with cylinder 51, provide the motor moving power along guide rail 3 to cylinder 51.
Below the implementation procedure of clinac self-oscillate position system self-oscillate position is described:
Medical worker's assisting patients is after the radiotherapy position that self-oscillate position bed 1 keeps correct and fix the position of patient, and start native system, harvester obtains the mark that patient's body surface needs radiotherapy position, and it is passed to therapeutic bed 4 by control device; Slide mechanism 13 is started with timed unit, motor 133 drives chain 131 to move, and then drives the bed board 12 on chain 131 to move, and is moved to by bed board 12 on the fixing head 21 of dolly 2, patient takes to after immediately below movable support bracket 5 by dolly 2, stably stops on guides 3.
Now, the mechanical hand 52 triggering movable support bracket 5 moves, after dolly 2 rises to preset height and mechanical hand 52 automatic butt, mechanical hand 52 closes, self-oscillate position bed bed board is clamped, move horizontally after rising to certain altitude, bed surface now on therapeutic bed 4 moves to the position that mechanical hand 52 can reach, self-oscillate position bed bed board is put on therapeutic bed bed surface by mechanical hand 52, be fixed on mechanical hand 52 after on therapeutic bed 4 until bed board 12 to unclamp, rise to safe altitude, Patient identification's position coordinates that therapeutic bed 4 is found out according to the laser orientation instru-ment of self-oscillate position bed 1, the center, target area of Patients Treated by Radiotherapy is sent into the centers such as clinac 6, implement radiotherapy.
To the patient that treatment terminates, therapeutic bed 4 horizontal level makes zero, self-oscillate position bed bed board can be grabbed the position of folder bed board 12 back to mechanical hand 52, mechanical hand 52 moves downward, automatically clamp self-oscillate position bed bed board patient is taken out from the therapeutic bed 4 of clinac 6, after rising to safe altitude, horizontal movement to assigned position, then moves down and is transferred on dolly 2 by patient safety.
Over the course for the treatment of, when previous patient just does radiotherapy on therapeutic bed 4, technical staff can need the patient for the treatment of to implement self-oscillate position to the next one; After previous patient terminates and transfers to the dolly on the guide rail for exporting patient, the patient that just pendulum position can be completed sends into machine room by the dolly on the guide rail of input patient and implements treatment.
To sum up, whole pendulum position process is realized automatically by equipment, improves the precision of pendulum position during radiotherapy; Thus decrease patient wait time, improve clinac service efficiency.
Claims (9)
1. a clinac self-oscillate position system, comprises self-oscillate position bed and control device, it is characterized in that: also comprise guide rail; The contiguous described self-oscillate position bed in described guide rail one end is installed, the therapeutic bed that the contiguous clinac place of the other end installs; The end of the contiguous therapeutic bed of described guide rail is provided with the movable support bracket across described guide rail; Described guide rail is placed with the dolly along slide;
Described self-oscillate position bed comprises harvester for reading the patient be fixed on bed board mark with it and the lower surface being arranged on described bed board, slide mechanism for driving described bed board to move horizontally;
Described movable support bracket comprise across described guide rail fixed mount and be arranged on described fixed mount top for level and vertically mobile, the bed board slid on dolly is moved to the lifting device on described therapeutic bed; Described slide mechanism, described harvester are all connected with described control device with described lifting device.
2. clinac self-oscillate position system according to claim 1, is characterized in that: be provided with two guide rails between described self-oscillate position bed and described therapeutic bed.
3. clinac self-oscillate position system according to claim 1, is characterized in that: described slide mechanism comprises the movable connecting rod installed of motor and sidewall two ends, lathe bed top be arranged on described lathe bed; The two ends of described connecting rod are provided with transmission gear, and two transmission gears on the same sidewall in described lathe bed top are set with chain; Described connecting rod is installed with the driven gear carrying out power transmission with the driving gear on motor.
4. clinac self-oscillate position system according to claim 1, it is characterized in that: described lifting device comprises the slide rail being arranged on described fixed mount top, the cylinder be arranged on described slide rail, the mechanical hand be connected with described cylinder and be connected with described cylinder, the motor moving power along guide rail is provided to cylinder.
5. according to the arbitrary described clinac self-oscillate position system of claim 1-4, it is characterized in that: described dolly comprises the bracing frame be arranged on base and the fixing head be positioned at above support frame as described above; Support frame as described above is installed with the lowering or hoisting gear for driving described fixing head to be elevated; Described base is installed with for providing the electric machine moving power along guide rail to dolly; Described fixing head offers the chute for clamping bed board inside biside plate.
6. clinac self-oscillate position system according to claim 5, is characterized in that: described lowering or hoisting gear comprises the hydraulic cylinder that is fixedly mounted on support frame as described above and one end is fixed on fixing head, the other end is fixed on expansion link on bracing frame; The piston rod end of described hydraulic cylinder is fixed on fixing head.
7. clinac self-oscillate position system according to claim 6, is characterized in that: be provided with the first locating hole in the middle part of described bed board, described fixing head is provided with the second locating hole coordinated with described first locating hole; Described second locating hole place be provided with one to be connected with described control device, when overlapping for the first locating hole and the second locating hole to control device one signal, to control the out-of-work sensor of slide mechanism.
8. clinac self-oscillate position system according to claim 6, is characterized in that: described fixing head is provided with a stopping means for fixed bed board at the chute place of contiguous described self-oscillate position bed side.
9. the clinac self-oscillate position system according to claim 1,2,3,4,6,7 or 8, is characterized in that: described harvester is laser orientation instru-ment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410765031.6A CN104491991B (en) | 2014-12-15 | 2014-12-15 | A kind of clinac self-oscillate position system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410765031.6A CN104491991B (en) | 2014-12-15 | 2014-12-15 | A kind of clinac self-oscillate position system |
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| Publication Number | Publication Date |
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| CN104491991A true CN104491991A (en) | 2015-04-08 |
| CN104491991B CN104491991B (en) | 2017-07-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410765031.6A Expired - Fee Related CN104491991B (en) | 2014-12-15 | 2014-12-15 | A kind of clinac self-oscillate position system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111481838A (en) * | 2020-03-24 | 2020-08-04 | 西南医科大学附属医院 | Tumor radiotherapy bed with positioning function |
| CN111821582A (en) * | 2019-04-18 | 2020-10-27 | 西安大医集团股份有限公司 | Patient positioning method and device |
| CN113478491A (en) * | 2021-09-07 | 2021-10-08 | 成都博恩思医学机器人有限公司 | Method and system for controlling position of mechanical arm, robot and storage medium |
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| CN201337762Y (en) * | 2008-12-31 | 2009-11-04 | 深圳市海博科技有限公司 | Mobile treatment table |
| CN102698373A (en) * | 2012-05-25 | 2012-10-03 | 南京大学 | Automatic positioning control system for accelerator |
| CN204380004U (en) * | 2014-12-15 | 2015-06-10 | 泸州医学院附属医院 | A kind of clinac self-oscillate position system |
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2014
- 2014-12-15 CN CN201410765031.6A patent/CN104491991B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201337762Y (en) * | 2008-12-31 | 2009-11-04 | 深圳市海博科技有限公司 | Mobile treatment table |
| CN102698373A (en) * | 2012-05-25 | 2012-10-03 | 南京大学 | Automatic positioning control system for accelerator |
| CN204380004U (en) * | 2014-12-15 | 2015-06-10 | 泸州医学院附属医院 | A kind of clinac self-oscillate position system |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111821582A (en) * | 2019-04-18 | 2020-10-27 | 西安大医集团股份有限公司 | Patient positioning method and device |
| CN111481838A (en) * | 2020-03-24 | 2020-08-04 | 西南医科大学附属医院 | Tumor radiotherapy bed with positioning function |
| CN111481838B (en) * | 2020-03-24 | 2022-03-01 | 西南医科大学附属医院 | Tumor radiotherapy bed with positioning function |
| CN113478491A (en) * | 2021-09-07 | 2021-10-08 | 成都博恩思医学机器人有限公司 | Method and system for controlling position of mechanical arm, robot and storage medium |
| CN113478491B (en) * | 2021-09-07 | 2021-11-16 | 成都博恩思医学机器人有限公司 | Method and system for controlling position of mechanical arm, robot and storage medium |
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| Publication number | Publication date |
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| CN104491991B (en) | 2017-07-25 |
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Address after: 646000 Luzhou province Sichuan City Jiangyang District Taiping Street No. 25 Patentee after: THE AFFILIATED HOSPITAL OF SOUTHWEST MEDICAL UNIVERSITY Address before: 646000 Luzhou province Sichuan City Jiangyang district after the prosperous Street No. 2 Building 1 unit 18 Patentee before: Hospital Attached to Luzhou Medical College |
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Granted publication date: 20170725 Termination date: 20191215 |