CN106267573B - A kind of accurate pendulum position therapeutic bed - Google Patents
A kind of accurate pendulum position therapeutic bed Download PDFInfo
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- CN106267573B CN106267573B CN201510261617.3A CN201510261617A CN106267573B CN 106267573 B CN106267573 B CN 106267573B CN 201510261617 A CN201510261617 A CN 201510261617A CN 106267573 B CN106267573 B CN 106267573B
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- roller bearing
- bearing screw
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- 230000001225 therapeutic effect Effects 0.000 title claims abstract description 23
- 239000000758 substrate Substances 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 8
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 17
- 230000017105 transposition Effects 0.000 claims description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 230000002708 enhancing effect Effects 0.000 abstract description 2
- 238000001959 radiotherapy Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000005855 radiation Effects 0.000 description 5
- 230000003902 lesion Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 210000000746 body region Anatomy 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000035479 physiological effects, processes and functions Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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- Rehabilitation Tools (AREA)
- Radiation-Therapy Devices (AREA)
- Invalid Beds And Related Equipment (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
Present invention discloses a kind of accurate pendulum position therapeutic beds, including pendulum bit platform, substrate, put and are provided with multiple freedom parallel mechanism between bit platform and the substrate, are also disposed with horizontal movement control assembly and vertical motion control assembly below substrate；Horizontal movement control assembly includes first direction control assembly and second direction control assembly, the first direction and second direction are vertical in the horizontal plane, the movement of the first direction and second direction is horizontal movement, and the vertical motion control assembly drives the horizontal movement control assembly to move up and down.The present invention can carry out the adjusting of angles and positions by the control of the small direction fineness of variation and parallel institution to therapeutic bed general orientation well, meanwhile, occupied area is small, and the scope of application is more extensive, practicability enhancing.
Description
Technical field
The invention belongs to medical diagnosis therapeutic device fields, more particularly to a kind of achievable accurate pendulum position therapeutic bed.
Background technique
Radiotherapy medicine is that the tissue of illness is destroyed using radiation.In radiation therapy process, need accurately
Position patient, it is ensured that body region to be illuminated, particularly tumour to be illuminated are exposed to sufficiently high dose of radiation, simultaneously
The health tissues of patient harm as small as possible.
When radiotherapy, patient is generally lain in therapeutic bed, is sent the lesion of patient to what doctor made by therapeutic bed and put
Penetrate the irradiation center for the treatment of plan.Either coplanar irradiation or noncoplanar irradiation require to guarantee that the lesion of patient is located always
In irradiation center, radiotherapy could be implemented, otherwise can generate very serious Operative risk.During actual therapeutic, when long
Between treatment cause patient do not accommodate conflict generate movement happen occasionally, so as to cause irradiation center deviation treatment plan, weight
During new adjustment, irradiation time is extended, brings pain to patient.Meanwhile being limited to the radiation that therapeutic bed can be provided
Angle, many complicated lesions, which are difficult to avoid jeopardizing organ, finds optimal radiation path, affects therapeutic effect.How to be promoted
The efficiency and quality of radiotherapy reduce the time of radiotherapy, mitigate patient's physiology and psychological burden is that therapeutic bed upgrading is changed
Problems faced is needed in generation.
A kind of six-freedom parallel radiation therapeutical bed is disclosed in patent 201420606155.5, it can be achieved that each angle and position
The control set, but this therapeutic bed causes whole due to needing relatively large space between the upper plate and pedestal of its parallel institution
A therapeutic bed occupation area of equipment increases.
Summary of the invention
In view of the problems of the above-mentioned prior art, the purpose of the present invention is to propose to a kind of therapeutic bed of accurate pendulum position, energy
Enough angles for adjusting bed are accurately to treat lesion.
The purpose of the invention will be achieved through the following technical solutions:
A kind of accurate pendulum position therapeutic bed, including pendulum bit platform, substrate, are provided between the pendulum bit platform and the substrate
Multiple freedom parallel mechanism, the substrate lower section are also disposed with horizontal movement control assembly and vertical motion control assembly；
The horizontal movement control assembly includes first direction control assembly and second direction control assembly, the first party
To vertical in the horizontal plane with second direction, the movement of the first direction and second direction is horizontal movement, the first party
It is described to the moving parts that control assembly and second direction control assembly include below a platform and setting and the platform
Moving parts include travelling nut and the roller bearing screw rod being arranged in travelling nut, and one end of the roller bearing screw rod is provided with electricity
Machine, motor driven roller bearing screw rod rotation, make travelling nut drive the platform corresponding roller bearing screw rod axis direction into
Row horizontal movement；The first direction control assembly and the axis of the roller bearing screw rod in second direction control assembly are mutually perpendicular to；
The vertical motion control assembly includes third platform, pedestal, and the liter being connected between third platform and pedestal
Device drops, and the horizontal movement control assembly is placed on third platform, and the vertical motion control assembly drives the horizontal movement
Control assembly moves up and down.
Preferably, the first direction control assembly includes the first platform and is placed in below first platform and can band
Dynamic first platform carries out the first mobile moving parts in a first direction；First moving parts include fixing with the first platform
The first movement nut of connection, the first roller bearing screw rod being arranged in first movement nut, one end of the first roller bearing screw rod
It is provided with motor, motor driven the first roller bearing screw rod rotation moves first movement nut back and forth on the first roller bearing screw rod
It is dynamic, drive first platform to move in a first direction；The substrate is fixedly connected with the first platform；
The second direction control assembly includes the second platform and is placed in the second platform of the second platform lower section drive second
Direction carries out the second mobile moving parts；Second moving parts are including the second travelling nut and are arranged in the second mobile spiral shell
The second roller bearing screw rod in mother, one end of the second roller bearing screw rod are provided with motor, the second roller bearing of motor driven screw rod
Rotation, moves back and forth the second travelling nut on the second roller bearing screw rod, and first platform is driven to transport in a second direction
It is dynamic；First platform and the second platform are cooperated by the first guide rail to be connected.
Preferably, first platform is embedded in the second platform, and first platform is led the first of the second platform
It is moved in rail；The axis of first guide rail is parallel with the first roller bearing screw rod axis；
Second paralell is set to above third platform, and is connect between third platform by the second guide rail, described
Third platform is moved along the second guide rail, and second guide rail is parallel with the second roller bearing screw rod axis.
Preferably, the parallel institution includes at least three retractable screw rod axis being arranged in parallel, and is set to scalable
The omnidirectional mechanism at screw axis both ends, the parallel institution movement drive the pendulum bit platform to be swung accordingly.
Preferably, the lifter is transposition arm, elastic component or mobile cylinder.
Preferably, a driving assembly for driving transposition arm to move, the driving component packet are provided on the pedestal
The nut for including a screw rod and being set on lead screw, the nut are connect with transposition arm, are arranged between the axis and pedestal of the screw rod
There is angle, one end of the screw rod is provided with motor；The motor work, drives screw rod rotation, to drive nut in screw rod
On moved.
Preferably, a shifting sledge, the transposition arm and third platform, base are respectively and fixedly provided on the third platform and pedestal
It is moved in shifting sledge by pulley seat junction.
Preferably, the lifter is mobile cylinder, and the cylinder axis of the mobile cylinder is connect with third platform, the shifting
Cylinder working of taking offence drives third platform to move up and down.
Preferably, the motor is servo motor.
Protrusion effect of the invention are as follows: pass through the control of the small direction fineness of the variation and parallel institution of general orientation, energy
The adjusting of angles and positions is carried out well, meanwhile, occupied area is small, and the scope of application is more extensive, practicability enhancing.With existing skill
Art is compared, and more simple and quick, more compact structure is decoupled；The big advantage of serial mechanism motion range can be played and played simultaneously
The strong advantage of online structure angle accurate positioning, bearing capacity.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention.
Fig. 2 is the structural schematic diagram of the horizontal movement control assembly and vertical motion control assembly in the present invention.
Fig. 3 is the structural schematic diagram for not including the first platform in Fig. 2 of the present invention.
Fig. 4 is the structural schematic diagram of vertical motion control assembly in Fig. 2 of the present invention, at this time still includes that second direction controls
Component.
Fig. 5 is the structural schematic diagram of the second platform.
Specific embodiment
Just attached drawing in conjunction with the embodiments below, the embodiment of the present invention is described in further detail, so that of the invention
Technical solution is more readily understood, grasps.
The present invention provides a kind of accurate pendulum position therapeutic beds, as shown in Figure 1, similarly to the prior art, including pendulum bit platform
1, substrate 2 are provided with multiple freedom parallel mechanism 3 between the pendulum bit platform 1 and the substrate 2, the parallel institution 3 is at least
The retractable screw rod axis being arranged in parallel including three, and it is set to the omnidirectional mechanism at retractable screw rod axis both ends, the parallel machine
The movement of structure 3 drives the pendulum bit platform 1 to be swung accordingly.In order to preferably control pendulum bit platform 1, the pendulum position is flat
Platform bottom is provided with one for being connected and fixed the plate 11 of parallel institution 3.
As shown in connection with fig. 2, unlike the prior art, 3 lower section of substrate is also disposed with horizontal movement control
Component and vertical motion control assembly.
The horizontal movement control assembly includes first direction control assembly and second direction control assembly, as preferred
Embodiment is specifically illustrated that the X-direction is first flat using first direction as X to, second direction as Y-direction below
Platform length axis direction, the Y-direction are the first berm width axis direction.
The X to control assembly include the first platform 4 and the X being set under the first platform 4 to moving parts.The X to
Moving parts include X to roller bearing screw rod 42, and are sheathed on X of the X on roller bearing screw rod 42 to travelling nut 41, the X to
One end of roller bearing screw rod 42 is provided with first motor 43.The X is fixed to travelling nut 41 and the first platform 4, first electricity
Machine 43 works, and drives X to rotate to roller bearing screw rod 42, to drive X to be moved to travelling nut 41 in X on roller bearing screw rod 42, most
The first platform 4 is driven to carry out the reciprocating motion upward in X eventually.
The Y-direction control assembly includes the second platform 5 and the Y-direction moving parts that are set under the second platform 5.The Y-direction
Moving parts include Y-direction roller bearing screw rod 62, and the Y-direction travelling nut 61 being sheathed on the Y-direction roller bearing screw rod 62, the X to
One end of roller bearing screw rod 62 is provided with first motor 63.The Y-direction travelling nut 61 and the second platform 5 are fixed, second electricity
Machine 63 works, and drives Y-direction roller bearing screw rod 62 to rotate, to drive Y-direction travelling nut 61 to move on Y-direction roller bearing screw rod 62, most
The second platform 5 is driven to carry out the reciprocating motion in Y-direction eventually.
To better understand this programme, in conjunction with shown in Fig. 3-Fig. 4, first platform 4 is embedded in the second platform 5, and
First platform 4 is moved in the first guide rail 51 of the second platform 5；The axis and X of first guide rail 51 are to roller bearing
42 axis of screw rod is parallel.
Second platform 5 is set up in 6 top of third platform, and is connect between third platform 6 by the second guide rail 52,
Guide post 64 is provided on the third platform 6, the third platform 6 is moved along the second guide rail 52, second guide rail 52
It is parallel with Y-direction roller bearing 62 axis of screw rod.Certainly, if by first direction and second direction respectively it is corresponding be set as Y-direction and X to
It equally can achieve purpose.
When need to carry out different directions it is mobile when, by X to the selectivity of Y-direction is mobile can be very good needed for reaching
Position.
Vertical motion control assembly, the vertical motion control assembly packet are provided with below the horizontal movement control assembly
Include third platform 6, pedestal 7, and the lifter being connected between third platform and pedestal.The vertical motion control assembly drives
The horizontal movement control assembly moves up and down.The lifter can be transposition arm, elastic component or mobile cylinder.Work as institute
Stating lifter is mobile cylinder, and the cylinder axis of the mobile cylinder connect with third platform, and the mobile cylinder works drive the
Three platforms move up and down.
As preferred embodiment, scheme is illustrated using transposition arm as specific below:
Specifically, a driving assembly 9 for driving transposition arm 8 to move is provided on the pedestal 7, the driving group
Part 9 is connect including a screw rod and the nut being set on lead screw, the nut with transposition arm 8, the axis and pedestal of the screw rod
Between be provided with angle.One end of the screw rod is provided with motor；The motor work, drives screw rod rotation, to drive nut
It is moved on screw rod.
A shifting sledge 71, the transposition arm 8 and third platform 6, base are respectively and fixedly provided on the third platform 6 and pedestal 7
It is moved in shifting sledge 71 by pulley 7 junctions of seat.Motor involved in the present embodiment is servo motor.
In use, patient lies on pendulum bit platform 1, vertical motion control assembly and horizontal movement control assembly control are first passed through
Then the general orientation of therapeutic bed processed carries out the adjusting of exact position by parallel institution.Use scope is extensive, practical.
Still there are many embodiment, all technical sides formed using equivalents or equivalent transformation by the present invention
Case is within the scope of the present invention.
Claims (4)
1. a kind of accurate pendulum position therapeutic bed, including pendulum bit platform, substrate, are provided with more between the pendulum bit platform and the substrate
Freedom degree parallel connection mechanism, it is characterised in that: be also disposed with horizontal movement control assembly and vertical motion below the substrate
Control assembly；
The horizontal movement control assembly includes first direction control assembly and second direction control assembly, the first direction and
Second direction is vertical in the horizontal plane, and the movement of the first direction and second direction is horizontal movement, the first direction control
Component processed and second direction control assembly include a platform and the moving parts being set to below the platform, the movement
Component includes travelling nut and the roller bearing screw rod being arranged in travelling nut, and one end of the roller bearing screw rod is provided with motor,
The motor driven roller bearing screw rod rotation, makes travelling nut that the platform be driven to carry out water in the axis direction of corresponding roller bearing screw rod
Flat movement；The first direction control assembly and the axis of the roller bearing screw rod in second direction control assembly are mutually perpendicular to；
The vertical motion control assembly includes third platform, pedestal, and the lifter being connected between third platform and pedestal,
The horizontal movement control assembly is placed on third platform, and the vertical motion control assembly drives the horizontal movement control group
Part moves up and down；
The first direction control assembly includes the first platform and is placed in below first platform and the first platform can be driven to exist
First direction carries out the first mobile moving parts；First moving parts include that first be fixedly connected with the first platform moves
Dynamic nut, the first roller bearing screw rod being arranged in first movement nut, one end of the first roller bearing screw rod are provided with motor, institute
The rotation of motor driven the first roller bearing screw rod is stated, moves back and forth first movement nut on the first roller bearing screw rod, drives described the
One platform moves in a first direction；The substrate is fixedly connected with the first platform；
The second direction control assembly includes the second platform and is placed in the second platform of the second platform lower section drive in second direction
Carry out the second mobile moving parts；Second moving parts include the second travelling nut and are arranged in the second travelling nut
The second roller bearing screw rod, one end of the second roller bearing screw rod is provided with motor, motor driven the second roller bearing screw rod rotation,
It moves back and forth the second travelling nut on the second roller bearing screw rod, first platform is driven to move in a second direction；Institute
The first platform and the second platform is stated to connect by the mutual cooperation of the first guide rail；
First platform is embedded in the second platform, and first platform is moved in the first guide rail of the second platform
It is dynamic；The axis of first guide rail is parallel with the first roller bearing screw rod axis；
Second paralell is set to above third platform, and is connect between third platform by the second guide rail, the third
Platform is moved along the second guide rail, and second guide rail is parallel with the second roller bearing screw rod axis；The lifter be transposition arm,
Elastic component or mobile cylinder；
A driving assembly for driving transposition arm to move is provided on the pedestal, the driving component includes a screw rod and sets
The nut being placed on lead screw, the nut are connect with transposition arm, and angle, the folder are provided between the axis and pedestal of the screw rod
Less than 90 °, one end of the screw rod is provided with motor at angle；The motor work, drives screw rod rotation, to drive nut in silk
It is moved on bar；
A shifting sledge is respectively and fixedly provided on the third platform and pedestal, the transposition arm and third platform, pedestal junction lead to
Pulley is crossed to move in shifting sledge.
2. a kind of accurate pendulum position therapeutic bed according to claim 1, it is characterised in that: the parallel institution includes at least three
A retractable screw rod axis being arranged in parallel, and it is set to the omnidirectional mechanism at retractable screw rod axis both ends, the parallel institution movement
The pendulum bit platform is driven to be swung accordingly.
3. a kind of accurate pendulum position therapeutic bed according to claim 1, it is characterised in that: the lifter is mobile cylinder,
The cylinder axis of the mobile cylinder is connect with third platform, and the mobile cylinder work drives third platform to move up and down.
4. a kind of accurate pendulum position therapeutic bed according to claim 1, it is characterised in that: the motor is servo motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510261617.3A CN106267573B (en) | 2015-05-21 | 2015-05-21 | A kind of accurate pendulum position therapeutic bed |
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| CN201510261617.3A CN106267573B (en) | 2015-05-21 | 2015-05-21 | A kind of accurate pendulum position therapeutic bed |
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| CN106267573A CN106267573A (en) | 2017-01-04 |
| CN106267573B true CN106267573B (en) | 2019-03-29 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107007946A (en) * | 2017-06-06 | 2017-08-04 | 成都博士科技有限公司 | It is a kind of to be used for proton and the automatic chair of heavy particle therapy incidence cancer |
| CN108031016B (en) * | 2017-12-22 | 2024-04-09 | 广州科莱瑞迪医疗器材股份有限公司 | Radiotherapy bed |
| CN109876311B (en) * | 2019-03-27 | 2023-09-29 | 陕西华明普泰医疗设备有限公司 | Six-degree-of-freedom radiotherapy bed |
| CN110681072B (en) * | 2019-10-17 | 2021-06-11 | 郑州大学第一附属医院 | Positioning device for treating esophageal cancer |
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| CN2548561Y (en) * | 2002-06-14 | 2003-05-07 | 华中科技大学 | Three-dimensional positioned bed |
| 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 |
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| CN104307113A (en) * | 2014-10-20 | 2015-01-28 | 苏州大学张家港工业技术研究院 | Radiation therapy system |
| CN204219617U (en) * | 2014-10-20 | 2015-03-25 | 苏州大学张家港工业技术研究院 | Six-freedom parallel radiation therapeutical bed |
| CN204709657U (en) * | 2015-05-21 | 2015-10-21 | 苏州爱因智能设备有限公司 | A kind of accurately pendulum position therapeutic bed |
-
2015
- 2015-05-21 CN CN201510261617.3A patent/CN106267573B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2548561Y (en) * | 2002-06-14 | 2003-05-07 | 华中科技大学 | Three-dimensional positioned bed |
| 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 |
| CN203303519U (en) * | 2013-06-21 | 2013-11-27 | 山东新华医疗器械股份有限公司 | Large medical equipment treatment bed |
| CN104307113A (en) * | 2014-10-20 | 2015-01-28 | 苏州大学张家港工业技术研究院 | Radiation therapy system |
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| CN204709657U (en) * | 2015-05-21 | 2015-10-21 | 苏州爱因智能设备有限公司 | A kind of accurately pendulum position therapeutic bed |
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Effective date of registration: 20240424 Address after: Room 101, building 13, No.158, Jinfeng Road, science and Technology City, Suzhou, Jiangsu 215000 Patentee after: Jiangsu University of technology collaborative medical robot Co.,Ltd. Country or region after: China Address before: Room 405, Building 09, Nanocity, No. 99 Jinjihu Avenue, Suzhou City, Jiangsu Province, 215021 Patentee before: Suzhou Aiyin Intelligent Equipment Co.,Ltd. Country or region before: China |