CN112843493A - Ultrasonic guide radiotherapy assists patient to set a position and uses scanning device - Google Patents
Ultrasonic guide radiotherapy assists patient to set a position and uses scanning device Download PDFInfo
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- CN112843493A CN112843493A CN201911101099.3A CN201911101099A CN112843493A CN 112843493 A CN112843493 A CN 112843493A CN 201911101099 A CN201911101099 A CN 201911101099A CN 112843493 A CN112843493 A CN 112843493A
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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
- A61N5/103—Treatment planning systems
- A61N5/1037—Treatment planning systems taking into account the movement of the target, e.g. 4D-image based planning
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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
- A61N5/103—Treatment planning systems
- A61N5/1039—Treatment planning systems using functional images, e.g. PET or MRI
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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
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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
- A61N2005/1058—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using ultrasound imaging
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- Life Sciences & Earth Sciences (AREA)
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- General Health & Medical Sciences (AREA)
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Abstract
The invention discloses a scanning device for assisting patient positioning in ultrasonic guided radiotherapy, which comprises a clamping plate, a base, a PLC (programmable logic controller) control panel, a placing groove, a stroke switch I, a stroke switch II, an electric push rod I, a stepping motor I, a rotating shaft, an arc-shaped rack, a moving seat, a stepping motor II, a gear, an electric push rod II, a fixed seat, a pressure sensor and an ultrasonic probe, wherein the accurate control of the ultrasonic guided scanning position is realized through the action of an X, Y, Z three-axis electric position adjusting mechanism, the rotation angle of the ultrasonic probe is ensured through the matching effect of an angle rotating positioning device, finally, the design of a pressure sensing system is combined, the pressing depth and the pressing pressure degree are convenient for medical personnel to master, the positioning verification precision of ultrasonic-assisted CBCT is improved, and in conclusion, the scanning consistency of the ultrasonic probe is ensured through positioning verification every time, is beneficial to the popularization and the application of the auxiliary positioning of the ultrasonic guided radiotherapy.
Description
Technical Field
The invention relates to an ultrasonic scanning device, in particular to a scanning device for assisting a patient in positioning through ultrasonic guide radiotherapy.
Background
Tumor radiotherapy is one of the important means for treating malignant tumor, and during the radiotherapy application process, the tumor and the surrounding normal tissues and organs will deform to different degrees, which results in the reduction of the dose of the target tumor area or the increase of the irradiated dose of the normal tissues. As a conventional radiotherapy technology, image-guided radiotherapy fully considers organ movement caused by functional movements such as respiratory movement and patient posture deviation among fractionated radiotherapy in a single treatment process, reduces positioning errors and irradiation dose deviation caused by organ movement, further improves the precision of radiotherapy, and protects normal tissues and organs to the maximum extent on the premise that a tumor target area is fully irradiated.
In clinical radiotherapy, a common image-guided radiotherapy apparatus is mainly a cone-beam computed tomography device. Compared with other imaging devices, the CBCT image has the advantages of high bone tissue contrast, high spatial resolution and the like, but the soft tissue resolution is low, the reconstructed image quality is poor due to the facts that the soft tissue resolution is low, the radiography hardening effect and the artifact phenomenon caused by electron scattering are caused, the electron density is inaccurate, and the requirement for accurate calculation of the self-adaptive treatment plan cannot be met. Ultrasonic imaging refers to the use of an ultrasonic probe to emit ultrasonic beams to a human body and scan in a certain direction, and by monitoring the delay time and intensity of reflected signals, the distance and properties of organs from the body surface are judged, and an ultrasonic image is obtained through computer post-processing. The ultrasonic image has rich information content, gray-scale section images and clear levels, can dynamically display the movable interface in real time, and has good display capability on small focuses. Compared with the traditional CBCT guided radiotherapy technology, the image guided technology of the ultrasonic and CBCT combined positioning verification can reduce the positioning error of the abdominal tumor.
According to the above, when performing the positioning verification by using the conventional ultrasonic-assisted CBCT, the scanning position, the pressing depth, the rotation angle and the pressing pressure of the ultrasonic probe cannot be recorded, the randomness is large, and the positioning verification by using the ultrasonic-assisted CBCT is not beneficial to improving the precision of the positioning verification by using the ultrasonic-assisted CBCT, and therefore, a scanning device for positioning the patient under the assistance of ultrasonic guidance and radiotherapy is needed to be designed to solve the above problems.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: provides a scanning device for assisting the patient in positioning through ultrasonic guided radiotherapy, which solves the problems in the prior art.
In order to solve the technical problems, the technical scheme of the invention is as follows: a scanning device for assisting patient positioning through ultrasonic guide radiotherapy comprises a clamping plate, a base, a PLC (programmable logic controller) control panel, a placing groove, a stroke switch I, a stroke switch II, an electric push rod I, a stepping motor I, a rotating shaft, an arc-shaped rack, a moving seat, a stepping motor II, a gear, an electric push rod II, a fixed seat, a pressure sensor and an ultrasonic probe, wherein the base is fixedly arranged at the top of the clamping plate, the base and the clamping plate are integrally formed, the PLC control panel is fixedly arranged at the upper end of the right side of the base, the PLC control panel is connected with the base through a bolt, the placing groove is arranged at the front end inside the base and is a rectangular groove, the stroke switch I is fixedly arranged at the top end inside the placing groove, the stroke switch I is connected with the base through a bolt, the stroke switch I is connected with the PLC control panel through a signal wire, the stroke switch II is fixedly arranged at the middle end of the left side, the II travel switch is connected with the base through a bolt, the II travel switch is connected with the PLC control panel through a signal wire, the I electric push rod is fixedly arranged in the placing groove, the I electric push rod is connected with the base through a bolt, the I electric push rod is respectively connected with the PLC control panel, the I travel switch and the II travel switch through signal wires, the I stepping motor is fixedly arranged at the top of the I electric push rod, the I stepping motor is connected with the I electric push rod through a bolt, the I stepping motor is connected with the PLC control panel through a signal wire, the rotating shaft is fixedly arranged at the front end of the I stepping motor, the rotating shaft is connected with the I stepping motor through a connecting shaft, the arc-shaped rack is fixedly arranged at the front end of the outer wall of the rotating shaft, the arc-shaped rack is tightly matched and connected with the rotating shaft, and the moving seat is slidably sleeved on the outer wall of the arc-shaped rack, the movable seat is connected with the arc-shaped rack in a sliding manner, the II stepping motor is fixedly arranged on the right side of the movable seat, the II stepping motor is connected with the movable seat through a bolt, the II stepping motor is connected with the PLC control panel through a signal line, the gear is fixedly arranged on the left side of the II stepping motor, the gear is tightly matched and connected with the II stepping motor, the gear is meshed and connected with the teeth of the arc-shaped rack, the II electric push rod is fixedly arranged at the bottom of the movable seat, the II electric push rod is connected with the movable seat through a bolt, the II electric push rod is connected with the PLC control panel through a signal line, the fixed seat is fixedly arranged on the right side of the II electric push rod, the fixed seat is connected with the II electric push rod through a bolt, the pressure sensor is fixedly arranged at the middle end inside the fixed seat, and is connected with the fixed seat through a bolt, and the pressure sensor is connected with the PLC control panel by a signal line, the ultrasonic probe is fixedly arranged at the bottom of the pressure sensor and is connected with the pressure sensor by a bolt, and the ultrasonic probe is connected with the PLC control panel by a signal line.
Further, the inside draw-in groove that still is equipped with of cardboard, the draw-in groove be the recess, the inside bottom left and right sides of cardboard still run through and have fastening bolt, fastening bolt and cardboard adopt inside and outside bolted connection, the inside bottom of cardboard still be equipped with and dodge the dead slot, dodge the groove and be the rectangle recess.
Further, the base top still set firmly the handle, handle and base adopt bolted connection, base right side lower extreme still set firmly the battery, battery and base adopt bolted connection, just the battery adopt the power cord with PLC control panel, I travel switch, II travel switch, I electric putter, I step motor, II electric putter, pressure sensor and ultrasonic probe respectively and connect.
Further, PLC control panel constitute by display, operating keyboard, PLC treater, step motor driver and AD converter, display, operating keyboard, PLC treater, step motor driver and AD converter between adopt the signal line to connect, just the PLC treater adopt the signal line with I electric putter and II electric putter respectively to be connected, the step motor driver adopt the signal line to connect with I travel switch, II travel switch, I step motor and II step motor respectively.
Furthermore, the bottom of the front end of the arc-shaped rack is fixedly provided with a limiting seat, and the limiting seat and the arc-shaped rack are integrally formed.
Compared with the prior art, this supplementary patient of supersound guide radiotherapy puts and uses scanning device, at first the effect through X, Y, Z triaxial electric position adjustment mechanism, thereby realize the accurate control to supersound guide scanning position, secondly the cooperation effect through the rotatory pendulum position device of angle, ultrasonic probe's rotation angle has been ensured, combine pressure sensing system design at last, also make things convenient for medical personnel to master and press the degree of depth and press the pressure degree, the precision that the supplementary CBCT of supersound carries out the pendulum position verification has been improved, to sum up, the uniformity of the supplementary pendulum position of ultrasonic probe scanning of verification at every turn has been ensured through using the device, do benefit to the popularization and application of the supplementary pendulum position of supersound guide radiotherapy.
Drawings
FIG. 1 is a front view of a scanning device for assisting patient positioning with ultrasound-guided radiotherapy;
FIG. 2 is a side view of a scanning apparatus for assisting patient positioning with ultrasound guided radiotherapy;
FIG. 3 is a perspective view of a scanning device for assisting patient positioning with ultrasound-guided radiotherapy, shown in FIG. 1;
FIG. 4 is a perspective view of a scanning device for assisting patient positioning with ultrasound-guided radiotherapy;
FIG. 5 is a perspective view of a scanning device for assisting patient positioning with ultrasound-guided radiotherapy;
FIG. 6 is an enlarged view of the position of the I travel switch;
FIG. 7 is an enlarged cross-sectional view of the movable mount;
fig. 8 is a schematic diagram of the main control circuit of the PLC control panel.
Cardboard 1, base 2, PLC control panel 3, standing groove 4, I travel switch 5, II travel switch 6, I electric putter 7, I step motor 8, pivot 9, arc rack 10, remove seat 11, II step motor 12, gear 13, II electric putter 14, fixing base 15, pressure sensor 16, ultrasonic probe 17, draw-in groove 101, fastening bolt 102, clearance groove 103, handle 201, battery 202, spacing seat 1001.
The following detailed description will be further described in conjunction with the above-identified drawings.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the concepts underlying the described embodiments, however, it will be apparent to one skilled in the art that the described embodiments may be practiced without some or all of these specific details, and in other cases well-known process steps have not been described in detail.
As shown in fig. 1, 2, 3, 4, 5, 6, 7 and 8, the device comprises a clamping plate 1, a base 2, a PLC control panel 3, a placing groove 4, an I stroke switch 5, an II stroke switch 6, an I electric push rod 7, an I stepping motor 8, a rotating shaft 9, an arc-shaped rack 10, a moving seat 11, an II stepping motor 12, a gear 13, an II electric push rod 14, a fixed seat 15, a pressure sensor 16 and an ultrasonic probe 17, wherein the base 2 is fixedly arranged on the top of the clamping plate 1, the base 2 and the clamping plate 1 are integrally formed, the PLC control panel 3 is fixedly arranged on the upper end of the right side of the base 2, the PLC control panel 3 is connected with the base 2 by bolts, the placing groove 4 is arranged at the front end inside the base 2, the placing groove 4 is a rectangular groove, the I stroke switch 5 is fixedly arranged at the top end inside the placing groove 4, the I stroke switch 5 is connected with the base 2 by bolts, the I travel switch 5 is connected with the PLC control panel 3 by a signal wire, the II travel switch 6 is fixedly arranged at the middle end of the left side in the placing groove 4, the II travel switch 6 is connected with the base 2 by a bolt, the II travel switch 6 is connected with the PLC control panel 3 by a signal wire, the I electric push rod 7 is fixedly arranged in the placing groove 4, the I electric push rod 7 is connected with the base 2 by a bolt, the I electric push rod 7 is respectively connected with the PLC control panel 3, the I travel switch 5 and the II travel switch 6 by signal wires, the I stepping motor 8 is fixedly arranged at the top of the I electric push rod 7, the I stepping motor 8 is connected with the I electric push rod 7 by a bolt, the I stepping motor 8 is connected with the PLC control panel 3 by a signal wire, the rotating shaft 9 is fixedly arranged at the front end of the I stepping motor 8, the utility model discloses a PLC (programmable logic controller) control system, including pivot 9, I step motor 8, arc rack 10, II step motor 12, gear 13 and II step motor 12, pivot 9 and I step motor 8 adopt the connecting axle to be connected, arc rack 10 set firmly in pivot 9 outer wall front end, arc rack 10 be connected with pivot 9 tight fit, removal seat 11 slip cap locate arc rack 10 outer wall, removal seat 11 and arc rack 10 sliding connection, II step motor 12 set firmly in removal seat 11 right side, II step motor 12 adopt bolted connection with removal seat 11, just II step motor 12 adopt the signal line to be connected with PLC control panel 3, gear 13 set firmly in II step motor 12 left side, gear 13 and II step motor 12 tight fit be connected, just gear 13 and arc rack 10 teeth of a cogwheel meshing be connected, II electric putter 14 set firmly in removal seat 11 bottom, II electric putter 14 adopt bolted connection with removal seat 11, just II electric putter 14 and PLC control panel 3 adopt the signal line to be connected, the fixing seat 15 is fixedly arranged on the right side of the II electric push rod 14, the fixing seat 15 is connected with the II electric push rod 14 through a bolt, the pressure sensor 16 is fixedly arranged at the middle end inside the fixing seat 15, the pressure sensor 16 is connected with the fixing seat 15 through a bolt, the pressure sensor 16 is connected with the PLC control panel 3 through a signal line, the ultrasonic probe 17 is fixedly arranged at the bottom of the pressure sensor 16, the ultrasonic probe 17 is connected with the pressure sensor 16 through a bolt, and the ultrasonic probe 17 is connected with the PLC control panel 3 through a signal line;
before use, the clamping plate 1 is firstly installed with the existing scanning bed, and then the subsequent position and angle control is facilitated through the preset PLC control panel 3 according to clinical needs, and the specific operation is as follows;
when the position of the Z axis is adjusted, the electric push rod 7 of the I is started to move up and down, and the up-and-down movement of the Z axis is ensured to be carried out within a certain range by matching with the travel switch 5 of the I and the travel switch 6 of the II;
when the position of the X axis is adjusted, the electric push rod 14 of the II is started to move left and right, and then the fixed seat 15 drives the pressure sensor 16 and the ultrasonic probe 17 to move along the X axis;
when the Y-axis position is adjusted, the gear 13 is driven to rotate by the II stepping motor 12, namely the gear 13 moves back and forth along the arc-shaped rack 10, and at the moment, the Y-axis position adjustment and the angle rotation are realized through the above;
when the transverse angle is adjusted, the step motor I8 drives the rotating shaft 9 to drive the arc-shaped rack 10 to rotate, and then the transverse angle of the ultrasonic probe 17 is adjusted through the left-right rotation effect of the arc-shaped rack 10;
during scanning detection, the ultrasonic probe 17 is started to work, the synchronous pressure sensor 16 can monitor the pressing depth and the pressing strength of the ultrasonic probe 17 in real time and transmit signals to the PLC control panel 3, and finally medical staff can know the signals conveniently;
the clamping plate 1 is internally provided with a clamping groove 101, the clamping groove 101 is a groove, fastening bolts 102 penetrate through the left side and the right side of the bottom end inside the clamping plate 1, the fastening bolts 102 are connected with the clamping plate 1 through internal and external bolts, the bottom end inside the clamping plate 1 is also provided with an avoidance groove 103, and the avoidance groove 103 is a rectangular groove;
it should be noted that the clamping groove 101 is a groove, and is convenient to insert into one side of the existing scanning bed, and the fastening bolt 102 is screwed in a rotating manner, so that the device and the existing scanning bed are installed and fixed, and meanwhile, due to the avoiding effect of the avoiding groove 103, the bottom of the fastening bolt 102 can be prevented from extending out, and the device can be placed conveniently when not in use;
the top of the base 2 is fixedly provided with a handle 201, the handle 201 is connected with the base 2 through bolts, the lower end of the right side of the base 2 is fixedly provided with a storage battery 202, the storage battery 202 is connected with the base 2 through bolts, and the storage battery 202 is respectively connected with a PLC control panel 3, an I travel switch 5, an II travel switch 6, an I electric push rod 7, an I stepping motor 8, an II stepping motor 12, an II electric push rod 14, a pressure sensor 16 and an ultrasonic probe 17 through power lines;
it should be noted that the handle 201 can be convenient for medical staff to hold and carry the device, and the storage battery 202 is used for supplying electric quantity to the PLC control panel 3, the I travel switch 5, the II travel switch 6, the I electric push rod 7, the I stepping motor 8, the II stepping motor 12, the II electric push rod 14, the pressure sensor 16 and the ultrasonic probe 17;
the PLC control panel 3 consists of a display, an operation keyboard, a PLC processor, a stepping motor driver and an A/D converter, the display, the operation keyboard, the PLC processor, the stepping motor driver and the A/D converter are connected by signal lines, the PLC processor is respectively connected with an I electric push rod 7 and an II electric push rod 14 by signal lines, and the stepping motor driver is respectively connected with an I travel switch 5, an II travel switch 6, an I stepping motor 8 and an II stepping motor 12 by signal lines;
it should be noted that the display is for displaying an operation interface, the operation keyboard is for facilitating the control of medical personnel, the PLC processor is provided with a built-in program, and can transmit the instruction sent by the operation keyboard to the I electric push rod 7, the II electric push rod 14, the I travel switch 5, the II travel switch 6, the I stepping motor 8 and the II stepping motor 12 through the stepping motor driver and the a/D converter, so as to realize convenient control;
a limiting seat 1001 is fixedly arranged at the bottom of the front end of the arc-shaped rack 10, and the limiting seat 1001 and the arc-shaped rack 10 are integrally formed;
it should be noted that the limiting seat 1001 is located at the front end of the arc-shaped rack 10, and plays a role in limiting the moving seat 11, so as to prevent the moving seat 11 from being separated from the arc-shaped rack 10.
Claims (5)
1. A scanning device for assisting patient positioning in ultrasonic guided radiotherapy is characterized by comprising a clamping plate, a base, a PLC control panel, a placing groove, an I travel switch, an II travel switch, an I electric push rod, an I stepping motor, a rotating shaft, an arc-shaped rack, a moving seat, an II stepping motor, a gear, an II electric push rod, a fixed seat, a pressure sensor and an ultrasonic probe, wherein the base is fixedly arranged at the top of the clamping plate, the PLC control panel is fixedly arranged at the upper end of the right side of the base, the placing groove is arranged at the front end inside the base, the I travel switch is fixedly arranged at the top end inside the placing groove, the I travel switch is connected with the PLC control panel through a signal wire, the II travel switch is fixedly arranged at the middle end of the left side inside the placing groove and is connected with the PLC control panel through a signal wire, the I electric push rod is fixedly arranged inside the placing groove, the I electric push rod is respectively connected with the PLC control panel, the I travel switch and the II travel switch by signal lines, the I stepping motor is fixedly arranged at the top of the I electric push rod, the I stepping motor is connected with the PLC control panel by signal lines, the rotating shaft is fixedly arranged at the front end of the I stepping motor, the arc rack is fixedly arranged at the front end of the outer wall of the rotating shaft, the moving seat is slidably sleeved on the outer wall of the arc rack, the II stepping motor is fixedly arranged at the right side of the moving seat and is connected with the PLC control panel by signal lines, the gear is fixedly arranged at the left side of the II stepping motor and is meshed with the teeth of the arc rack, the II electric push rod is fixedly arranged at the bottom of the moving seat and is connected with the PLC control panel by signal lines, the fixing seat is fixedly arranged at the right side of the II electric push rod, pressure sensor set firmly in the inside middle-end of fixing base, just pressure sensor and PLC control panel adopt the signal line to be connected, ultrasonic probe set firmly in the pressure sensor bottom, just ultrasonic probe and PLC control panel adopt the signal line to be connected.
2. The scanning device for assisting patient positioning in ultrasound guided radiotherapy as claimed in claim 1, wherein the clamping plate is further provided with a slot therein, fastening bolts are further penetrated through the left and right sides of the bottom end of the interior of the clamping plate, and the bottom end of the interior of the clamping plate is further provided with a clearance groove.
3. The scanning device for assisting patient positioning in ultrasound guided radiotherapy as claimed in claim 1, wherein a handle is further fixed to the top of the base, a storage battery is further fixed to the lower end of the right side of the base, and the storage battery is connected to the PLC control panel, the I stroke switch, the II stroke switch, the I electric push rod, the I stepping motor, the II electric push rod, the pressure sensor, and the ultrasound probe through power lines.
4. The scanning device for assisting patient positioning in ultrasound-guided radiotherapy as claimed in claim 1, wherein the PLC control panel comprises a display, an operation keyboard, a PLC processor, a stepping motor driver, and an a/D converter, the display, the operation keyboard, the PLC processor, the stepping motor driver, and the a/D converter are connected by signal lines, the PLC processor is connected with the I electric push rod and the II electric push rod by signal lines, and the stepping motor driver is connected with the I stroke switch, the II stroke switch, the I stepping motor, and the II stepping motor by signal lines.
5. The scanning device for assisting patient positioning in ultrasound guided radiotherapy as claimed in claim 1, wherein a limiting seat is further fixedly disposed at a bottom of a front end of the arc-shaped rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911101099.3A CN112843493A (en) | 2019-11-12 | 2019-11-12 | Ultrasonic guide radiotherapy assists patient to set a position and uses scanning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911101099.3A CN112843493A (en) | 2019-11-12 | 2019-11-12 | Ultrasonic guide radiotherapy assists patient to set a position and uses scanning device |
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| Publication Number | Publication Date |
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| CN112843493A true CN112843493A (en) | 2021-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911101099.3A Pending CN112843493A (en) | 2019-11-12 | 2019-11-12 | Ultrasonic guide radiotherapy assists patient to set a position and uses scanning device |
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| CN (1) | CN112843493A (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201880220U (en) * | 2010-11-02 | 2011-06-29 | 华中科技大学 | Auxiliary radiotherapy mattress system with function of image and breathing guidance |
| CN107260269A (en) * | 2017-07-11 | 2017-10-20 | 哈尔滨理工大学 | A kind of ultrasound guidance robot for aspiration biopsy of prostatic gland |
| CN109771851A (en) * | 2019-03-01 | 2019-05-21 | 常州市第二人民医院 | Ultrasonic guidance radiotherapy auxiliary pendulum position scanning means |
-
2019
- 2019-11-12 CN CN201911101099.3A patent/CN112843493A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201880220U (en) * | 2010-11-02 | 2011-06-29 | 华中科技大学 | Auxiliary radiotherapy mattress system with function of image and breathing guidance |
| CN107260269A (en) * | 2017-07-11 | 2017-10-20 | 哈尔滨理工大学 | A kind of ultrasound guidance robot for aspiration biopsy of prostatic gland |
| CN109771851A (en) * | 2019-03-01 | 2019-05-21 | 常州市第二人民医院 | Ultrasonic guidance radiotherapy auxiliary pendulum position scanning means |
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Application publication date: 20210528 |
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