CN109125954A - Swing arm type radiotherapy robot therapeutic bed - Google Patents
Swing arm type radiotherapy robot therapeutic bed Download PDFInfo
- Publication number
- CN109125954A CN109125954A CN201810966419.0A CN201810966419A CN109125954A CN 109125954 A CN109125954 A CN 109125954A CN 201810966419 A CN201810966419 A CN 201810966419A CN 109125954 A CN109125954 A CN 109125954A
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- arm
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- pumping
- horizontal rotating
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N2005/1092—Details
- A61N2005/1097—Means for immobilizing the patient
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Pathology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
The present invention provides a kind of swing arm type radiotherapy robot therapeutic bed, and including installation pedestal, the lower horizontal rotating arm being installed in installation pedestal, the upper horizontal rotating arm being connected with lower horizontal rotating arm, the pumping arm action being connected with upper horizontal rotating arm, be connected with pumping arm action combination rotary joint, the bed board that is connected with said combination rotary joint.Thus, the present invention by setting installation pedestal, lower horizontal rotating arm, upper horizontal rotating arm and pumping arm action realize bed board in any direction on movement, also by setting combination rotary joint, to realize the rotation on bed board any direction, with realize efficiently, accurately radiotherapy；And the setting of pumping arm action does not need to occupy much room, so that simple and reasonable, when installation, is not necessarily to lower digging, it is easy for installation, and the setting of pumping arm action, so that therapeutic bed up and down motion range of the invention is big, bed position is reasonable up and down by patient, does not need to go to bed by stair footrest.
Description
Technical field
The present invention relates to medical apparatus and instruments technical fields, and in particular to a kind of swing arm type using multidimensional torque sensor
Radiotherapy robot therapeutic bed.
Background technique
Tumour radiotherapy is a kind of local therapeutic approaches using radiation cure tumour.Radioactive ray include that radioactivity is same
Position element generate α, β, gamma-rays and all kinds of x-ray therapy apparatuses or accelerator generate x-ray, electric wire, proton beam and other
Heavy particle beam etc..About 70% cancer patient needs during treating cancer with radiotherapy, there are about 40% it is pernicious
Tumor patient can cooperate other operations, chemotherapy, biological targeting to control by simple radiotherapy or the treatment based on radiotherapy
Treatment etc. available healing.Effect and status of the radiotherapy in oncotherapy become increasingly conspicuous, it has also become treatment is pernicious swollen
One of main means of tumor.
Therapeutic bed is one of radiotherapy key equipment.Radiotherapy start before preparation process, in radiation therapy process
Therapeutic bed is required to be supported patient, fix simultaneously accurate movement positioning as needed.In addition, the performance in radiotherapy apparatus is tested
It is also required in card with therapeutic bed support, positioning body mould.Achievable six-freedom motion, positioning accuracy are high and can to load distribution
The robot therapeutic bed of real-time perfoming feedback compensation is vital for the effect for guaranteeing radiotherapy.
Therapeutic bed used in radiotherapy at present is mostly to be equipped with three-dimensional translating regulating mechanism below bed board to add again
One moves along fixed-circumference guide rail to realize the moving of bed board, position, and the attitude regulation of such radiation therapeutical bed and installation are empty
Between be all restricted, it is difficult to realize efficiently, accurately radiotherapy.
Application documents " a kind of radiotherapy robot therapeutic bed of SCARA structure " (application number 201711175669.4)
A kind of radiotherapy robot therapeutic bed of SCARA structure is disclosed, the attitude regulation and installation space of therapeutic bed are not
It is restricted, the movement on any direction and the rotation of any direction may be implemented, and then realize efficient accurately radiotherapy.So
And this SCARA structure is since its lifting device the space occupied is larger, high to installation requirement, ground will descend to dig 1 meter 2
More than, many therapeutic rooms can not install, and SCARA structure constraint, in mechanical part size, bed board cannot drop to patient side
Just the position gone to bed.
Summary of the invention
It is an object of the invention to provide a kind of swing arm type radiotherapy robot therapeutic beds, on realizing any direction
While mobile and rotation, the space occupied needed for reducing.
To achieve the goals above, the present invention provides a kind of swing arm type radiotherapy robot therapeutic bed, including installation
Pedestal is equipped with lower horizontal rotating arm in the installation pedestal, is connected with upper horizontal rotating arm in one end of lower horizontal rotating arm,
The upper horizontal rotating arm is connected with pumping arm action, the one combination rotary joint of one end connection of pumping arm action, the combination rotation
Joint then connects bed board.
The pumping arm action includes pumping arm action ontology, and one end of the pumping arm action ontology is equipped with to be connected with upper horizontal rotating arm
The other end of the pumping arm action trunnion connect, pumping arm action ontology is equipped with pumping arm action connecting flange.
The pumping arm action be set inside the body the first rotating electric machine, the second rotating electric machine and third rotating electric machine and
The first spline shaft, the second spline being connect respectively with first rotating electric machine, the second rotating electric machine and third rotating electric machine
Transmission shaft and third spline shaft.
The combination rotary joint includes the first joint arm and second joint arm, and first joint arm one end is equipped with the first joint
Bearing, and pumping arm action connecting flange is connected to by the first oscillating bearing；The other end of first joint arm is equipped with second joint
Bearing, and connect by second joint bearing with one end of second joint arm；The other end of the second joint arm passes through third
Oscillating bearing is connected to bed board；First oscillating bearing second joint bearing and third oscillating bearing are passed with first spline respectively
Moving axis, the second spline shaft are connected with third spline shaft.
The axis of first oscillating bearing is overlapped with the longitudinal axis of the first joint arm and is parallel to the longitudinal direction of pumping arm action
Axis；The axis of second joint bearing intersects vertically with the longitudinal axis of the first joint arm and the longitudinal axis of second joint arm；Three close
The axis of bearings is overlapped with the longitudinal axis of second joint arm and perpendicular to the plane where bed board.
First joint arm and second joint arm are mounted on electric limit switch, and between third oscillating bearing and bed board
It is provided with multidimensional torque sensor.
The lower horizontal rotating arm includes lower horizontal rotating arm ontology and is respectively arranged on lower horizontal rotating arm ontology both ends
First runner and the second runner, first the first displacement motor of runner and the first coupled retarder driving, the first displacement electricity
Machine is anchored on the inside of installation pedestal, and the second runner is driven by second displacement motor and the second coupled retarder, the
Two displacement motors are anchored on the inside of lower horizontal rotating arm ontology.
First runner includes the RV connecting flange and RV output flange by bearing installation mutually rotating, RV connection method
The blue fastening that is spirally connected with installation pedestal, RV output flange and horizontal rotation arm body fix and pass through the first displacement motor and with its phase
The first retarder driving even, and second runner is installed on lower horizontal rotating arm ontology by bearing rotary.
The Internal and external cycle of the bearing is separately installed with matched Circular gratings and grating reading head.
The upper horizontal rotating arm includes shell and the third displacement motor being installed in shell, train of reduction gears and
Three retarders, the shell are fixed on second runner, and third displacement motor is connected with train of reduction gears, and reduction gearing
Group is connected with third retarder.
The present invention can be real by setting installation pedestal, lower horizontal rotating arm, upper horizontal rotating arm and pumping arm action as a result,
Existing bed board is in vertically and horizontally any movement, also by setting combination rotary joint, to realize bed board rotating around phase
Mutually three vertical axis rotation, the final six degree of freedom for realizing bed board in treatment region are accurately positioned, to realize efficiently, precisely
Radiotherapy；And the setting structure advantages of simple of pumping arm action, it does not need to occupy much room, so that therapeutic bed moves up and down
Range is big, and bed position is reasonable up and down by patient, does not need to go to bed by stair footrest, lower digging, installation side are not necessarily to when installation
Just.
Detailed description of the invention
Fig. 1 is that a kind of structure of swing arm type radiotherapy robot according to an embodiment of the invention therapeutic bed is shown
It is intended to；
Fig. 2 is the cross-sectional view of the pedestal of swing arm type radiotherapy robot therapeutic bed as shown in Figure 1.
Fig. 3 is the structural representation of the lower horizontal rotating arm of swing arm type radiotherapy robot therapeutic bed as shown in Figure 1
Figure；
Fig. 4 is the structural representation of the upper horizontal rotating arm of swing arm type radiotherapy robot therapeutic bed as shown in Figure 1
Figure；
Fig. 5 is the structural schematic diagram of the pumping arm action of swing arm type radiotherapy robot therapeutic bed as shown in Figure 1.
Specific embodiment
With reference to the accompanying drawing, presently preferred embodiments of the present invention is provided, and is described in detail, makes to be better understood when this hair
Bright function, feature.
It is as shown in Figure 1 a kind of swing arm type radiotherapy robot therapeutic bed according to one embodiment of the present of invention,
Including installation pedestal 1, lower horizontal rotating arm 2 is installed in installation pedestal 1, is connected with upper water in one end of lower horizontal rotating arm 2
Flat rotating arm 3, the upper horizontal rotating arm 3 are connected with pumping arm action 4, the one combination rotary joint of one end connection of pumping arm action 4
5, the combination rotary joint 5 then connects bed board 6.Cooperation controls institute jointly for the lower horizontal rotating arm 2 and upper horizontal rotating arm 3
It states bed board 6 to move in the X-Y plane where X-axis and Y-axis, the pumping arm action 4 controls the bed board 6 in the shifting of Z-direction
Dynamic, the combination rotary joint 5 controls the bed board 6 and rotates rotating around X-axis, Y-axis and Z axis.X to, Y-direction, Z-direction be such as institute in figure
Show, wherein Y-direction indicates that vertical paper direction is inside in figure.
As shown in Fig. 2, installation pedestal 1 includes a hollow cylinder cabinet being fixedly installed on ground, the open circles
The top surface of cylindricality cabinet is equipped with threaded hole (not shown), for connecting lower horizontal rotating arm 2.In some embodiments, it installs
Pedestal 1, which is bolted, is installed on ground, and the part including being connected with lower horizontal rotating arm 2 is lauched with fixation, support
Flat rotating arm 2.
As shown in figure 3, lower horizontal rotating arm 2 includes lower horizontal rotating arm ontology 21 and is respectively arranged on lower horizontal rotating arm sheet
First runner 22 and the second runner 23 at 21 both ends of body, in the present embodiment, first runner 22 include being revolved each other by bearing 8
Turn the RV connecting flange 221 and RV output flange 222 of installation, RV connecting flange 221 and the screw hole of installation pedestal 1 are tight
Gu RV output flange 222 is fixed with horizontal rotation arm body 21 and is subtracted by the first displacement motor 24 and coupled first
Fast device 25 drives its rotation, and the first displacement motor 24 is fastened by bolts in the box house of installation pedestal 1, is lauched as a result,
Flat rotating arm 2 is fixed on the axis of installation pedestal 1 by the rotation of RV connecting flange 221, and in the drive of the first displacement motor 24
Around 1 rotary motion of installation pedestal under dynamic, and then drive therapeutic bed in X-Y plane intrinsic displacement.Second runner 23 is revolved by bearing 8
Turn to be installed on lower horizontal rotating arm ontology 21, the second runner 23 is slowed down by second displacement motor 26 and coupled second
Device 27 drives its rotation, and second displacement motor 26 is fastened by bolts in the inside of lower horizontal rotating arm ontology 21.Bearing 8 is excellent
It is selected as crossed roller bearing, which can bear radial and axial power simultaneously.RV output flange 222 and RV connecting flange 221 it
Between the Internal and external cycle of bearing 8 pass through RV output flange 222 respectively and RV connecting flange 221 is equipped with matched Circular gratings 28 and light
Grid read head 29, wherein grating reading head 29 is fixed on RV connecting flange 221 by grating reading head mounting rack 291, grating reading head
29 read the location information of Circular gratings 28 in real time during the motion with obtain RV output flange 222 and RV connecting flange 221 it
Between 8 Internal and external cycle of bearing between the absolute value of angle that rotates.It is same as the Internal and external cycle of bearing 8 that the second runner 23 is connected to distinguish
Circular gratings and grating reading head (not shown) are installed to read it and rotate angle.
As shown in figure 4, upper horizontal rotating arm 3 include shell 31 and be installed in shell 31 third displacement motor 32,
Train of reduction gears 33 and third retarder 34, wherein shell 31 is fixed on second runner 23, so that upper horizontal rotating arm 3
It is rotated in the horizontal plane under the driving of second displacement motor 26 and the second retarder 27 with the second runner 23, and then drives treatment
Bed is in X-Y plane intrinsic displacement.Third displacement motor 32 is connected with train of reduction gears 33, and train of reduction gears 33 and third retarder
34 are connected, and third retarder 34 is equipped with third retarder connecting flange 341；So that third displacement motor 32 drives reduction gearing
Group 33, train of reduction gears 33 drive pumping arm action 4 around the connecting shaft of upper horizontal rotating arm and pumping arm action by third retarder
In the plane internal rotation (swinging up and down) perpendicular to X-Y plane, and then realize displacement of the therapeutic bed in Z-direction.
As shown in figure 5, wherein X is as shown in the figure to, Y-direction, Z-direction, pumping arm action 4 includes pumping arm action ontology 41, should
One end of pumping arm action ontology 41 is equipped with the pumping arm action trunnion 42 that connect with the shell 31 of upper horizontal rotating arm 3, be used for
The third retarder connecting flange 341 of text is connected, and sets respectively on pumping arm action trunnion 42 and third retarder connecting flange 341
There are matched Circular gratings and grating reading head (not shown) to read rotation angle between the two；Pumping arm action ontology 41 it is another
End is equipped with pumping arm action connecting flange 43, and the inside of pumping arm action ontology 41 is equipped with the first rotating electric machine 44, the second electric rotating
Machine 45 and third rotating electric machine 46 and respectively with first rotating electric machine 44, the second rotating electric machine 45 and third rotating electric machine 46
The first spline shaft 47, the second spline shaft 48 and the third spline shaft 49 of connection, the driving of the first rotating electric machine 44
The rotation of first spline shaft 47, the second rotating electric machine 45 drive the rotation of the second spline shaft 48, and third rotating electric machine 46 drives
Dynamic third spline shaft 49 rotates.Wherein, the first rotating electric machine 44, the second rotating electric machine 45 and third rotating electric machine 46 are logical
Mounting bracket is crossed to be installed in pumping arm action 4.
Again referring to Figure 1, combination rotary joint 5 includes the first joint arm 51 and second joint arm 52, the first joint arm 51
One end is equipped with the first oscillating bearing 53, and is connected to pumping arm action connecting flange 43, the first joint by the first oscillating bearing 53
The axis of bearing 53 is overlapped with the longitudinal axis of the first joint arm 51 and is parallel to the longitudinal axis of pumping arm action 4；First joint arm 51
The other end be equipped with second joint bearing 54, and connect with one end of second joint arm 52 by second joint bearing 54, second
The axis of oscillating bearing 54 intersects vertically with the longitudinal axis of the first joint arm 51 and the longitudinal axis of second joint arm 52；Second closes
The other end of joint arm 52 is connected to bed board 6, the axis and second joint arm of third oscillating bearing 55 by third oscillating bearing 55
52 longitudinal axis is overlapped and perpendicular to the plane where bed board 6.In addition, the first oscillating bearing 53, second joint bearing 54 and
Three-knuckle bearing 55 respectively with the first spline shaft 47 described above, the second spline shaft 48 and third spline shaft
49 are connected, and enable the first spline shaft 47, the second spline shaft 48 and third spline shaft 49 respectively first
The first oscillating bearing 53, second joint are driven under the driving of rotating electric machine 44, the second rotating electric machine 45 and third rotating electric machine 46
Bearing 54 and third oscillating bearing 55 are rotated around own axes, and then drive the rotation of therapeutic bed.
Multidimensional torque sensor 7, the both ends of multidimensional torque sensor 7 are provided between third oscillating bearing 55 and bed board 6
Respectively by flanged joint in the end face of third oscillating bearing 33 and the bottom surface of bed board 6；Multidimensional torque sensor can be surveyed in real time
The data measured are simultaneously supplied to feedback system by load weight and load distribution on amount bed board 6 in real time, realize different loads, no
With accurate positioning when load distribution.
In addition, lower horizontal rotating arm 2, upper horizontal rotating arm 3 and pumping arm action 4 are fitted with mechanical position limitation block, (figure is not
Show), for preventing it from being detached from motion range when controlling failure, the first joint arm 51 and second joint arm are fitted with electric limit
Switch, for preventing it from being detached from motion range when controlling failure.
In addition, bed board 6 is made of carbon fibre material, bed board 6 include end fix, support section and effective treatment region,
The region of system positioning and beta ray therapy can be guided on effective treatment region, that is, therapeutic bed bed board with radioscopic image.
The present invention can be real by setting installation pedestal, lower horizontal rotating arm, upper horizontal rotating arm and pumping arm action as a result,
Existing bed board is in vertically and horizontally any movement, also by setting combination rotary joint, to realize bed board rotating around phase
Mutually three vertical axis rotation, the final six degree of freedom for realizing bed board in treatment region are accurately positioned, to realize efficiently, precisely
Radiotherapy；And the setting structure advantages of simple of pumping arm action, it does not need to occupy much room, so that therapeutic bed moves up and down
Range is big, and bed position is reasonable up and down by patient, does not need to go to bed by stair footrest, lower digging, installation side are not necessarily to when installation
Just.
Above-described, only presently preferred embodiments of the present invention, the range being not intended to limit the invention, of the invention is upper
Stating embodiment can also make a variety of changes.Made by i.e. all claims applied according to the present invention and description
Simply, equivalent changes and modifications fall within the claims of the invention patent.The not detailed description of the present invention is
Routine techniques content.
Claims (10)
1. a kind of swing arm type radiotherapy robot therapeutic bed, which is characterized in that including installation pedestal (1), the installation base
Lower horizontal rotating arm (2) are installed on seat (1), are connected with upper horizontal rotating arm (3), institute in one end of lower horizontal rotating arm (2)
It states horizontal rotating arm (3) to be connected with pumping arm action (4), one combination rotary joint (5) of one end connection of pumping arm action (4), institute
It states combination rotary joint (5) and then connects bed board (6).
2. swing arm type radiotherapy robot therapeutic bed according to claim 1, which is characterized in that the pumping arm action
It (4) include pumping arm action ontology (41), one end of the pumping arm action ontology (41) is upper equipped with connecting with upper horizontal rotating arm (3)
The other end of lower swing arm trunnion (42), pumping arm action ontology (41) is equipped with pumping arm action connecting flange (43).
3. swing arm type radiotherapy robot therapeutic bed according to claim 2, which is characterized in that the pumping arm action
The inside of ontology (41) is equipped with the first rotating electric machine (44), the second rotating electric machine (45) and third rotating electric machine (46) and difference
The first spline shaft being connect with first rotating electric machine (44), the second rotating electric machine (45) and third rotating electric machine (46)
(47), the second spline shaft (48) and third spline shaft (49).
4. swing arm type radiotherapy robot therapeutic bed according to claim 3, which is characterized in that the combination rotation
Joint (5) includes the first joint arm (51) and second joint arm (52), and the first joint arm (51) one end is equipped with the first oscillating bearing
(53), pumping arm action connecting flange (43) and by the first oscillating bearing (53) are connected to；The other end of first joint arm (51)
It is connect equipped with second joint bearing (54), and by second joint bearing (54) with one end of second joint arm (52)；Described
The other end of two joint arms (52) is connected to bed board (6) by third oscillating bearing (55)；First oscillating bearing (53) second closes
Bearings (54) and third oscillating bearing (55) respectively with first spline shaft (47), the second spline shaft (48) and
Third spline shaft (49) is connected.
5. swing arm type radiotherapy robot therapeutic bed according to claim 4, which is characterized in that first joint
The axis of bearing (53) is overlapped with the longitudinal axis of the first joint arm (51) and is parallel to the longitudinal axis of pumping arm action (4)；Second closes
The axis of bearings (54) intersects vertically with the longitudinal axis of the first joint arm (51) and the longitudinal axis of second joint arm (52)；The
The axis of three-knuckle bearing (55) is overlapped with the longitudinal axis of second joint arm (52) and perpendicular to the plane where bed board (6).
6. swing arm type radiotherapy robot therapeutic bed according to claim 4, which is characterized in that first joint
Arm (51) and second joint arm (52) are mounted on electric limit switch, and are arranged between third oscillating bearing (55) and bed board (6)
There are multidimensional torque sensor (7).
7. swing arm type radiotherapy robot therapeutic bed according to claim 1, which is characterized in that the lower horizontal rotation
Pivoted arm (2) includes lower horizontal rotating arm ontology (21) and the first runner for being respectively arranged on lower horizontal rotating arm ontology (21) both ends
(22) it is driven with the second runner (23), (22) first displacement motor (24) of the first runner and coupled the first retarder (25)
Dynamic, the first displacement motor (24) is anchored on the inside of installation pedestal (1), the second runner (23) by second displacement motor (26) and
Coupled the second retarder (27) driving, second displacement motor (26) are anchored on the interior of lower horizontal rotating arm ontology (21)
Portion.
8. swing arm type radiotherapy robot therapeutic bed according to claim 7, which is characterized in that first runner
It (22) include the RV connecting flange (221) and RV output flange (222) for passing through bearing (8) installation mutually rotating, RV connecting flange
(221) be spirally connected fastening with installation pedestal (1), and RV output flange (222) and horizontal rotation arm body (21) are fixed and pass through first
Displacement motor (24) and the driving of coupled the first retarder (25), and second runner (23) is rotated by bearing (8)
It is installed on lower horizontal rotating arm ontology (21).
9. swing arm type radiotherapy robot therapeutic bed according to claim 8, which is characterized in that the bearing (8)
Internal and external cycle be separately installed with matched Circular gratings and grating reading head.
10. swing arm type radiotherapy robot therapeutic bed according to claim 7, which is characterized in that upper to rotate horizontally
Arm (3) includes shell (31) and the third displacement motor (32) being installed in shell (31), train of reduction gears (33) and third
Retarder (34), the shell (31) are fixed on second runner (23), third displacement motor (32) and train of reduction gears
(33) it is connected, and train of reduction gears (33) is connected with third retarder (34).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810966419.0A CN109125954A (en) | 2018-08-23 | 2018-08-23 | Swing arm type radiotherapy robot therapeutic bed |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810966419.0A CN109125954A (en) | 2018-08-23 | 2018-08-23 | Swing arm type radiotherapy robot therapeutic bed |
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| CN110940301A (en) * | 2019-11-28 | 2020-03-31 | 杭州电子科技大学 | Real-time main dynamic moment compensation type balancing method of joint type coordinate measuring machine |
| CN113543935A (en) * | 2019-01-09 | 2021-10-22 | 库卡德国有限公司 | Patient positioning device and medical workstation |
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| CN113543935A (en) * | 2019-01-09 | 2021-10-22 | 库卡德国有限公司 | Patient positioning device and medical workstation |
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Application publication date: 20190104 |