CN109663222B - Head and neck fixing device for radiotherapy - Google Patents

Head and neck fixing device for radiotherapy Download PDF

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Publication number
CN109663222B
CN109663222B CN201811452696.6A CN201811452696A CN109663222B CN 109663222 B CN109663222 B CN 109663222B CN 201811452696 A CN201811452696 A CN 201811452696A CN 109663222 B CN109663222 B CN 109663222B
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China
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head
neck
bed body
assembly
chin
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CN109663222A (en
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李建雄
鞠忠建
赵志飞
冀天楠
王运来
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Chinese PLA General Hospital
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Chinese PLA General Hospital
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61NELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00Radiation therapy
    • A61N5/10X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61NELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00Radiation therapy
    • A61N5/10X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N2005/1092Details
    • A61N2005/1097Means 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)
  • Radiation-Therapy Devices (AREA)

Abstract

The invention provides a head and neck fixing device for radiotherapy, which relates to the technical field of medical auxiliary instruments and comprises a head fixing assembly, a neck fixing assembly, a face clamping assembly and a chin supporting assembly which is detachably connected with the neck fixing assembly and is used for fixing the chin of a human body. According to the head and neck fixing device for radiotherapy, the head fixing component fixed on the bed body is used for ensuring accurate positioning of the lower part of the head of a patient, then the position of the neck fixing component in the length direction of the bed body is adjusted according to the body type characteristics of the patient, the head and neck relative positions are fixed, the side positioning components arranged on the two sides of the head can effectively clamp the two sides of the face, finally the jaw clamping device arranged below is used for ensuring the fixing of the pitching angle of the head, further the overall stability of the head and neck is ensured, the accurate position of the radiotherapy is ensured, and the therapeutic effect of the radiotherapy is improved.

Description

Head and neck fixing device for radiotherapy
Technical Field
The invention belongs to the technical field of medical auxiliary instruments, and particularly relates to a head and neck fixing device for radiotherapy.
Background
In the medical field, where patients often suffer from malignant tumors, radiation therapy is one of the main therapeutic techniques, the treatment of malignant tumors and some benign diseases by means of one or more ionizing radiations, is the treatment of ionizing radiation. About 70% of cancer patients require radiation therapy during treatment of cancer, and about 40% of cancer can be radically treated with radiation therapy. The role and role of radiation therapy in tumor therapy is increasingly prominent. Radiation therapy has become one of the most important means in the treatment of malignant tumors, i.e. cancer. More than 70% of cancers in China need radiation therapy, and more than 50% of cancers in the United states need radiation therapy. Radiation therapy is available for almost all cancer treatments, and is the only treatment necessary for many cancer patients.
For head radiotherapy, because the supporting points of the head and the neck of a human body are relatively few, the situations of high centering difficulty and influence on the treatment effect are easily caused by unstable head placement of a patient in the radiotherapy process. The existing head and neck fixing device generally only limits two sides of the head, cannot achieve a good limiting effect on the angle with the direction of the head and the face, and solves the problems that the irradiation position is inaccurate and the treatment effect is poor.
Disclosure of Invention
The invention aims to provide a head and neck fixing device for radiotherapy, which solves the technical problems that the fixing effect of the head and neck fixing device in the prior art is unstable and the treatment effect is affected.
In order to achieve the above purpose, the invention adopts the following technical scheme: the utility model provides a neck fixing device for radiotherapy, including set firmly the head fixed subassembly on the bed body, set up in the head fixed subassembly downside and be used for with the bed body along the length direction sliding connection of bed body and the neck fixed subassembly of locking, the symmetry set up in the head fixed subassembly both sides and be used for respectively with the facial clamping component of laminating of human and can dismantle the lower jaw bearing subassembly of being connected and being used for fixed human lower jaw with the neck fixed subassembly.
As a further optimization, the head fixing component comprises an annular flexible head support fixedly arranged on the bed body and a flexible cushion layer fixedly arranged on the bed body and positioned at the center of the annular flexible head support.
As further optimization, the annular flexible head rest is an elliptical annular member, and the annular flexible head rest and the flexible cushion layer are both rubber members.
As a further optimization, the bottom of the neck fixing component is provided with a sliding block, the bed body is provided with a sliding groove which is in sliding connection with the sliding block, the neck fixing component, the chin supporting component and the bed body are connected through fastening bolts, the neck fixing component is provided with a plurality of through holes which are distributed along the length direction of the bed body and are used for the fastening bolts to penetrate, and the bed body is provided with a plurality of threaded holes which are distributed along the length direction of the bed body and are matched with the fastening bolts.
As a further optimization, the neck fixing component comprises a neck supporting plate and an air bag component arranged above the neck supporting plate, wherein a concave part is arranged in the middle of the air bag component.
As a further optimization, the inflatable bag component comprises an air bag arranged on the neck supporting plate and an inflating bag arranged on the side part of the air bag and used for inflating the air bag, a locking button is arranged at the outlet of the inflating bag, and the concave part is positioned in the middle of the air bag.
As a further refinement, the chin support assembly comprises a connecting seat for covering the neck of the human body and connecting with the neck support plate, a special-shaped cushion arranged on the connecting seat and used for fitting with the chin of the human body, and a fitting cushion arranged on the upper part of the special-shaped cushion and used for fitting with the front side of the chin of the human body.
As a further optimization, the bottom of the connecting seat is also fixedly provided with a plurality of elastic elements which are arranged along the vertical direction and are abutted with the neck supporting plate.
As a further optimization, the bed body is provided with a clamping chute, and the face clamping assembly comprises a sliding seat, elastic components and a flexible clamping block, wherein the sliding seat is slidably connected with the clamping chute along the width direction of the bed body, the elastic components are arranged on two sides of the sliding seat and are used for being clamped with the clamping chute, and the flexible clamping block is arranged on the inner side of the sliding seat and is used for clamping the face of a human body.
As a further optimization, the elastic component comprises a spring with a main shaft perpendicular to a central shaft of the clamping chute and two pressing blocks respectively arranged at two axial ends of the spring, a pressing part penetrating through the outer wall of the sliding seat is arranged on the upper side of the pressing block, and an abutting part abutting against the clamping chute is arranged below the side part of the pressing block.
The head and neck fixing device for radiotherapy provided by the invention has the beneficial effects that: according to the head and neck fixing device for radiotherapy, the head fixing component fixed on the bed body is used for ensuring accurate positioning of the lower part of the head of a patient, then the position of the neck fixing component in the length direction of the bed body is adjusted according to the body type characteristics of the patient, the head and neck relative positions are fixed, the side positioning components arranged on the two sides of the head can effectively clamp the two sides of the face, finally the jaw clamping device arranged below is used for ensuring the fixing of the pitching angle of the head, further the overall stability of the head and neck is ensured, the accurate position of the radiotherapy is ensured, and the therapeutic effect of the radiotherapy is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic top view of a head and neck fixing device for radiotherapy according to an embodiment of the present invention;
Figure 2 is a schematic illustration of an embodiment of the invention without a chin support assembly attached;
FIG. 3 is an enlarged schematic view of a chin support assembly in accordance with an embodiment of the invention;
FIG. 4 is a schematic structural diagram of the A-direction of FIG. 3 according to an embodiment of the present invention;
FIG. 5 is a schematic cross-sectional view of B-B in FIG. 4 according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating the structure of the D-direction of FIG. 2 according to an embodiment of the present invention;
FIG. 7 is a schematic cross-sectional view of the face clamping assembly and the C-C of the bed of FIG. 1 in accordance with an embodiment of the invention;
wherein, each reference sign in the figure:
100-a head fixation assembly; 110-an annular flexible head rest; 120-a flexible cushion; 200-a neck fixation assembly; 210-neck pallet; 220-balloon components; 221-a recess; 222-an air bag; 223-inflating the air bag; 224-locking button; 225-through holes; 230-a slider; 300-face clamping assembly; 310-slide; 320-an elastic member; 321-a spring; 322-pressing the block; 323-a pressing part; 324-abutment; 330-a flexible clamping block; 400-chin support assembly; 410-connecting seats; 420-special-shaped soft cushion; 430-attaching a soft pad; 440-an elastic element; 600-bed body; 610-fastening a bolt; 620-a chute; 630-clamping chute.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Referring to fig. 1 to 7, a description will now be given of a head and neck fixing device for radiotherapy according to the present invention. The head and neck fixing device for radiotherapy comprises a head fixing assembly 100 fixedly arranged on a bed body 600, a neck fixing assembly 200 arranged on the lower side of the head fixing assembly 100 and used for being connected and locked with the bed body 600 in a sliding manner along the length direction of the bed body 600, face clamping assemblies 300 symmetrically arranged on two sides of the head fixing assembly 100 and respectively used for being attached to the face of a human body, and a chin supporting assembly 400 detachably connected with the neck fixing assembly 200 and used for fixing the chin of the human body. It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or be indirectly on the other element. The terms "upper," "lower," "top," "bottom," "inner," "outer," and the like are used for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not denote or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention. In this embodiment, the head and neck fixing device for radiotherapy is arranged at one end of the length direction of the bed body, so as to be convenient for supporting the head of a patient, and the other end of the bed body is used for placing the foot. For convenience of description, the front side in this embodiment refers to the position where the face faces when the patient lies, and the lower side refers to the direction from the head to the foot when the patient lies, and the lower side refers to the upper and lower sides relative to the surface of the bed. The facial clamping assembly 300 is used for effectively fixing the upper half of the face of a human body, the chin support assembly 400 is used for effectively fixing the lower half of the face, so that the conditions of twisting and the like on the front side of the whole face are avoided, the head fixing assembly 100 is used for effectively positioning and fixing the position of the back brain bag from the back side of the head, and the neck fixing assembly 200 is used for positioning and fixing the periphery of the neck, so that the effect of fixing the head from multiple angles is realized, and the position piece deviation caused by local twisting is avoided.
Compared with the prior art, the head and neck fixing device for radiotherapy provided by the invention ensures accurate positioning of the lower part of the head of a patient through the head fixing component fixed on the bed body, then adjusts the position of the neck fixing component in the length direction of the bed body according to the body type characteristics of the patient, fixes the relative position of the head and neck, and the side positioning components arranged on two sides of the head can effectively clamp two sides of the face, finally ensures the fixity of the pitching angle of the head through the jaw clamping device below, further ensures the overall stability of the head and neck part, ensures the accurate position of the radiotherapy and improves the treatment effect of the radiotherapy.
Referring to fig. 1to 2 together, as an embodiment of the head and neck fixing device for radiotherapy provided by the present invention, the head fixing assembly 100 includes an annular flexible head support 110 fixed on a bed 600 and a flexible cushion layer 120 fixed on the bed 600 and located at the center of the annular flexible head support 110. The height of the annular flexible head rest 110 is higher than the height of the flexible cushion 120. The setting of annular flexible head support 110 is convenient for human head convenient put into, can make the stable department that is located its center of head, does not take place to rock, and the setting of flexible bed course 120 is convenient for keep the travelling comfort of human head when lying down.
Referring to fig. 1 to 2, as a specific embodiment of the fixing device for head and neck for radiotherapy provided by the present invention, the annular flexible head support 110 is an elliptical ring-shaped member, and the annular flexible head support 110 and the flexible cushion 120 are both made of rubber materials. The elliptical ring shape of the annular flexible head support 110 is convenient to achieve good fit with the head, the problem of insufficient support is avoided, the flexible cushion layer 120 is made of rubber, comfortable use feeling can be kept, and meanwhile discomfort caused to the head of a patient due to too low temperature can be avoided.
Referring to fig. 1,2 and 6 together, as a specific embodiment of the head and neck fixing device for radiotherapy provided by the present invention, a sliding block 230 is provided at the bottom of a neck fixing assembly 200, a sliding groove 620 slidably connected with the sliding block 230 is provided on a bed body 600, the neck fixing assembly 200, a chin support assembly 400 and the bed body are connected by fastening bolts 610, a plurality of through holes 225 for the fastening bolts 610 to penetrate are provided on the neck fixing assembly 200 along the length direction of the bed body 600, and a plurality of threaded holes which are distributed along the length direction of the bed body 600 and are matched with the fastening bolts 610 are provided on the bed body 600. In the description of the present invention, the meaning of "a number" is two or more, unless explicitly defined otherwise. Sliding connection between slider 230 and spout 620 on the bed body 600, slider 230 is equipped with the arch in the direction of perpendicular to its slip direction, with spout 620 relevant position cooperation, realize sliding connection between the two, avoid slider 230 to deviate from spout 620 and influence stability on the fixed subassembly 200 of neck, utilize fastening bolt 610 to run through jaw bearing subassembly 400 and the fixed subassembly 200 of neck realize with the screw fastening effect of the bed body 600 simultaneously, can be with these two effectual fixing of subassembly on the bed body 600 to realize the good spacing to human neck and jaw position.
Referring to fig. 1,2 and 6, as an embodiment of the fixing device for head and neck for radiotherapy provided by the present invention, the neck fixing assembly 200 includes a neck support plate 210 and an inflatable bag member 220 disposed above the neck support plate 210, and a recess 221 is disposed in the middle of the inflatable bag member 220. The neck brace 210 is used as a foundation, and the upper edge of the neck brace is provided with the inflatable bag component 220 which can perform inflation after a person lies down on the neck, so that the neck is supported and clamped from two sides and below, and the problem that the stability of the head position is affected by twisting and shaking of the neck is avoided. The recess 221 can make the middle height of the air bag member 220 lower than that of the two sides, so as to ensure that the neck is stably positioned at the middle position of the air bag member 220 and avoid shaking to the two sides.
Referring to fig. 1, 2 and 6 together, as a specific embodiment of the fixing device for head and neck for radiotherapy provided by the present invention, the inflatable bag component 220 includes an inflatable bag 222 disposed on the neck support plate 210, and an inflatable bag 223 disposed on a side portion of the inflatable bag 222 and used for inflating the inflatable bag 222, wherein a locking button 224 is disposed at an outlet of the inflatable bag 223, and the recess 221 is located in a middle portion of the inflatable bag 222. The air bag 222 of the air bag component 220 is used for supporting the neck, the air bag 222 is inflated by the air bag 223, and the air bag 222 is inflated by pressing the air bag 223 for multiple times, so that the air bag 222 is inflated by the locking button 224 successively, and the locking button 224 is screwed to prevent air in the air bag 222 from leaking when the neck can be well supported and limited.
Referring to fig. 1 to 5 together, as an embodiment of the head and neck fixing device for radiotherapy according to the present invention, the chin support assembly 400 includes a connection base 410 for covering the neck of the human body and connected to the neck support plate 210, a shaped soft pad 420 disposed on the connection base 410 for fitting the chin of the human body, and a fitting soft pad 430 disposed on the upper portion of the shaped soft pad 420 for fitting the front side of the chin of the human body. The connecting seat 410 is used for fixing the positions of the neck fixing assembly 200 and the bed body 600, so that the problem of unstable support of the chin caused by the position change of the connecting seat 410 is avoided. The lower part of the human chin is supported by the special-shaped soft cushion 420, so that the position change caused by tiny head lifting and head lowering of a human body is avoided, the inward concave angle of the special-shaped soft cushion 420 is consistent with the angle of the human chin, the special-shaped soft cushion is suitable for the chin support requirements of most people, the attaching soft cushion 430 realizes the fixing effect from the front side of the chin, the front and back direction position of the chin is avoided, the effective limitation of each angle of the chin is realized, and the position dislocation is avoided.
Referring to fig. 1 to 5, as a specific embodiment of the fixing device for head and neck for radiotherapy provided by the present invention, the bottom of the connecting seat 410 is further fixedly provided with a plurality of elastic elements 440 having main shafts disposed along the up-down direction and abutting against the neck support plate 210. When the patient is in a larger body and the bones are relatively larger than the general person, the compression amount of the elastic member 440 at the bottom of the connection seat 410 is smaller when the fastening bolt 610 is tightened, so that the chin of the patient is prevented from being pressed downward by the cushion 430, and the stable connection between the chin support assembly 400 and the neck fixing assembly 200 and the bed 600 can be ensured, and the head position of the patient can be ensured to be fixed.
Referring to fig. 1, 2 and 7 together, as a specific embodiment of the fixing device for head and neck for radiotherapy provided by the present invention, a clamping chute 630 is provided on a bed body 600, and a face clamping assembly 300 includes a sliding seat 310 slidably connected with the clamping chute 630 along a width direction of the bed body 600, elastic members 320 disposed on two sides of the sliding seat 310 and used for clamping with the clamping chute 630, and a flexible clamping block 330 disposed inside the sliding seat 310 and used for clamping a face of a human body. When carrying out butt location to human chin position, facial clamp assembly 300 can effectually support the human body from the both sides of face, avoids the action of face to both sides pivoted, and then guarantees the stability of the front side of whole head, and facial clamp assembly 300 carries out effectual fixed to the human face first half, and chin bearing assembly 400 carries out effectual fixed to the lower half of face, and then realizes that the condition such as twist can not take place for whole face front side.
Referring to fig. 1,2 and 7 together, as a specific embodiment of the fixing device for head and neck for radiotherapy provided by the present invention, the elastic component 320 includes a spring 321 with a main shaft perpendicular to a central axis of the clamping chute 630, and two pressing blocks 322 respectively disposed at two axial ends of the spring 321, a pressing portion 323 penetrating through an outer wall of the sliding seat 310 is disposed on an upper side of the pressing block 322, and an abutting portion 324 abutting against the clamping chute 630 is disposed below a side portion of the pressing block 322. The setting of elastic component 320 can realize the compression of spring 321 through the manual pressing of pressing part 323 of medical staff, and then realizes that butt portion 324 draws close to the centre, and slide 310 can freely slide in chucking spout 630 this moment, and when slide 310 to patient's head one side remove to flexible clamp piece 330 can with the position of hugging closely of patient's face, then loosen pressing piece 322, slide 310 and chucking spout 630 form the butt effect this moment, stable this position of being located, guarantee the clamping action to human face. In the setting of chucking spout 630, the width of its bottom is greater than the width of opening part, can effectually avoid pressing the lower part of briquetting 322 and deviate from chucking spout 630, causes the problem of chucking inefficacy.
According to the head and neck fixing device for radiotherapy, the head fixing component fixed on the bed body is used for ensuring accurate positioning of the lower part of the head of a patient, then the position of the neck fixing component in the length direction of the bed body is adjusted according to the body type characteristics of the patient, the head and neck relative positions are fixed, the side positioning components arranged on the two sides of the head can effectively clamp the two sides of the face, finally the jaw clamping device arranged below is used for ensuring the fixing of the pitching angle of the head, further the overall stability of the head and neck is ensured, the accurate position of the radiotherapy is ensured, and the therapeutic effect of the radiotherapy is improved.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims (5)

1. Head and neck fixing device for radiotherapy, its characterized in that: the device comprises a head fixing assembly (100) fixedly arranged on a bed body (600), a neck fixing assembly (200) arranged on the lower side of the head fixing assembly (100) and used for being connected with the bed body (600) in a sliding way along the length direction of the bed body (600) and locked, face clamping assemblies (300) symmetrically arranged on two sides of the head fixing assembly (100) and respectively used for being attached to the face of a human body, and a chin supporting assembly (400) detachably connected with the neck fixing assembly (200) and used for fixing the chin of the human body;
The neck fixing assembly (200) comprises a neck supporting plate (210), and an inflatable bag component (220) arranged above the neck supporting plate (210), wherein a concave part (221) is arranged in the middle of the inflatable bag component (220);
the inflatable bag component (220) comprises an air bag (222) arranged on the neck support plate (210) and an inflatable bag (223) arranged on the side part of the air bag (222) and used for inflating the air bag (222), a locking button (224) is arranged at the outlet of the inflatable bag (223), and the concave part (221) is positioned in the middle of the air bag (222);
the chin support assembly (400) comprises a connecting seat (410) which is used for being covered on the neck of a human body and is connected with the neck support plate (210), a special-shaped soft cushion (420) which is arranged on the connecting seat (410) and is used for being attached to the chin of the human body, and an attaching soft cushion (430) which is arranged on the upper part of the special-shaped soft cushion (420) and is used for being attached to the front side of the chin of the human body;
The bottom of the connecting seat (410) is fixedly provided with a plurality of elastic elements (440) which are arranged along the up-down direction and are abutted with the neck supporting plate (210);
the head fixing assembly (100) comprises an annular flexible head support (110) fixedly arranged on the bed body (600) and a flexible cushion layer (120) fixedly arranged on the bed body (600) and positioned at the center of the annular flexible head support (110).
2. The head and neck fixation device for radiation therapy as defined in claim 1, wherein: the annular flexible head support (110) is an elliptical annular member, and the annular flexible head support (110) and the flexible cushion layer (120) are both rubber members.
3. The head and neck fixation device for radiation therapy as defined in claim 1, wherein: the bottom of neck fixed subassembly (200) is equipped with slider (230), be equipped with on the bed body (600) with spout (620) of slider (230) sliding connection, neck fixed subassembly (200) chin bearing subassembly (400) and bed body (600) pass through fastening bolt (610) rigid coupling, be equipped with on neck fixed subassembly (200) along a plurality of confession that the length direction of bed body (600) distributes through-hole (225) that fastening bolt (610) run through, be equipped with a plurality of on the bed body (600) along the length direction of bed body (600) distribute and with fastening bolt (610) complex screw hole.
4. The head and neck fixation device for radiation therapy as defined in claim 1, wherein: the bed body (600) is provided with a clamping chute (630), and the face clamping assembly (300) comprises a sliding seat (310) which is connected with the clamping chute (630) in a sliding manner along the width direction of the bed body (600), elastic components (320) which are arranged on two sides of the sliding seat (310) and are used for being clamped with the clamping chute (630), and flexible clamping blocks (330) which are arranged on the inner side of the sliding seat (310) and are used for clamping the face of a human body.
5. The radiation therapy head and neck fixation device as defined in claim 4, wherein: the elastic component (320) include main shaft perpendicular to spring (321) and set up respectively in two pressing blocks (322) at axial both ends of spring (321) that chucking spout (630) was arranged in the axis, pressing block (322) upside be equipped with run through pressing portion (323) of slide (310) outer wall, pressing block (322) lateral part below be equipped with chucking spout (630) butt portion (324).
CN201811452696.6A 2018-11-30 2018-11-30 Head and neck fixing device for radiotherapy Active CN109663222B (en)

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CN110732096A (en) * 2019-10-17 2020-01-31 中科绿谷(深圳)医疗科技有限公司 Head fixing device and magnetic resonance guided ultrasonic therapeutic apparatus
WO2021177421A1 (en) * 2020-03-05 2021-09-10 日本山村硝子株式会社 Medical fixing tool
CN111529969B (en) * 2020-05-28 2022-07-29 西安大医集团股份有限公司 Collision detection method and device of radiotherapy equipment

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