CN113730831A - Cobalt 60 radiation source radiotherapy device based on mechanical arm - Google Patents

Cobalt 60 radiation source radiotherapy device based on mechanical arm Download PDF

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Publication number
CN113730831A
CN113730831A CN202111126728.5A CN202111126728A CN113730831A CN 113730831 A CN113730831 A CN 113730831A CN 202111126728 A CN202111126728 A CN 202111126728A CN 113730831 A CN113730831 A CN 113730831A
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CN
China
Prior art keywords
mechanical arm
main body
radiotherapy
shielding cover
hole
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Pending
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CN202111126728.5A
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Chinese (zh)
Inventor
马丽
陈蔚海
朱伟中
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Taicong Medical Technology Changzhou Co ltd
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Taicong Medical Technology Changzhou Co ltd
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Priority to CN202111126728.5A priority Critical patent/CN113730831A/en
Publication of CN113730831A publication Critical patent/CN113730831A/en
Pending legal-status Critical Current

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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
    • 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
    • A61N5/1077—Beam delivery systems
    • A61N5/1083—Robot arm beam systems
    • 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
    • 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
    • A61N2005/1094—Shielding, protecting against radiation

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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)
  • Robotics (AREA)
  • Radiation-Therapy Devices (AREA)

Abstract

The invention discloses a cobalt 60 radioactive source radiotherapy device based on a mechanical arm, which comprises a rotary base and a bottom plate fixed on a wall body, wherein a mechanical arm main body is arranged on the rotary base, a radiotherapy mechanism with a radioactive source is arranged at the front end of the mechanical arm main body, a shielding cover for covering the radiotherapy mechanism is fixed on an electric rotary base, the shielding cover comprises a shielding cover main body with a spherical structure, a radioactive ray hole for emitting the radioactive ray of the radioactive source is arranged at the front end of the shielding cover main body, a through hole is arranged behind the radioactive source of the shielding cover main body, and a shielding cover for covering the through hole is fixed on the bottom plate; the mechanical arm main body drives the radiotherapy mechanism arranged at the front end of the mechanical arm main body to move, so that a through hole of the shielding cover main body behind the ray source corresponds to the shielding cover on the bottom plate, and a closed shielding space is formed inside the shielding cover main body. The invention greatly reduces the total mass of the shield cover main body, thereby greatly reducing the load of the mechanical arm main body.

Description

Cobalt 60 radiation source radiotherapy device based on mechanical arm
Technical Field
The invention relates to the technical field of radiotherapy devices, in particular to a radiotherapy device of a cobalt 60 radioactive source based on a mechanical arm.
Background
The mechanical arm type radiotherapy device is based on robot technology, automatic control technology with multiple freedom degrees of motion and other technology, and can realize irradiation of the radiation head in any angle via the mechanical motion device with multiple freedom degrees.
However, the existing mechanical arm is difficult to simultaneously meet two key parameters of load bearing and motion precision, and the precision requirement of radiotherapy is very high, so most of the mechanical arm radiotherapy devices can only adopt a linear accelerating tube module with light weight as a radiation source in a matched manner.
Compared with an accelerating tube module, the cobalt 60 radioactive source is low in cost and easy to maintain. However, relevant national standards have strict requirements on radiation shielding protection of radiotherapy equipment based on a cobalt 60 radioactive source, so that the conventional radiotherapy equipment based on the cobalt 60 radioactive source needs to be provided with a heavy radiation-proof shell, and the weight is extremely large, so that the radiotherapy equipment cannot be applied to mechanical arm type radiotherapy. In order to solve the problem of the complaint, the radiotherapy device based on the cobalt 60 radioactive source of the mechanical arm is provided.
Disclosure of Invention
In order to solve the technical problems, the invention provides the following technical scheme:
the invention relates to a cobalt 60 radioactive source radiotherapy device based on a mechanical arm, which comprises a rotary base and a bottom plate fixed on a wall body, wherein a mechanical arm main body is arranged on the rotary base, a radiotherapy mechanism with a radioactive source is arranged at the front end of the mechanical arm main body, the mechanical arm main body comprises a first mechanical arm which is arranged on the rotary base and is vertically upward, a second mechanical arm is arranged at the front end of the first mechanical arm, a third mechanical arm is arranged at the front end of the second mechanical arm, an electric rotating seat is arranged at the front end of the third mechanical arm, the radiotherapy mechanism is fixed on the electric rotating seat, a shielding cover for covering the radiotherapy mechanism is fixed on the electric rotating seat, the shielding cover comprises a shielding cover main body with a spherical structure, a radioactive ray hole for emitting rays of the radioactive source is arranged at the front end of the shielding cover main body, a through hole is arranged at the rear part of the radioactive source, a shielding cover for covering the through hole is fixed on the bottom plate;
the mechanical arm main body drives the radiotherapy mechanism arranged at the front end of the mechanical arm main body to move, so that a through hole of the shielding cover main body behind the ray source corresponds to the shielding cover on the bottom plate, and a closed shielding space is formed inside the shielding cover main body.
As a preferred technical scheme of the invention, the radiation therapy device comprises a rotary base and a bottom plate fixed on a wall body, wherein a mechanical arm main body is arranged on the rotary base, a radiation therapy mechanism with a radiation source is arranged at the front end of the mechanical arm main body, the mechanical arm main body comprises a first mechanical arm which is arranged on the rotary base and is vertically upward, a second mechanical arm is arranged at the front end of the first mechanical arm, a third mechanical arm is arranged at the front end of the second mechanical arm, an electric rotating seat is arranged at the front end of the third mechanical arm, the radiation therapy mechanism is fixed on the electric rotating seat, a shielding cover for covering the radiation therapy mechanism is fixed on the electric rotating seat, the shielding cover comprises a shielding cover main body with a spherical structure, a radiation hole for emitting radiation of the radiation source is arranged at the front end of the shielding cover main body, and a through hole is arranged behind the radiation source, a shielding cover for covering the through hole is fixed on the bottom plate;
the mechanical arm main body drives the radiotherapy mechanism arranged at the front end of the mechanical arm main body to move, so that a through hole of the shielding cover main body behind the ray source corresponds to the shielding cover on the bottom plate, and a closed shielding space is formed inside the shielding cover main body.
In a preferred embodiment of the present invention, the through hole is formed by an arc cut in the shield body of the spherical structure and located behind the radiation source.
As a preferred technical solution of the present invention, a sealing and butting mechanism is formed between the through hole and the shielding cover, the sealing and butting mechanism includes a sealing ring block disposed at the port of the through hole and disposed along the circumferential direction of the port of the through hole, and the shielding cover is provided with a sealing ring groove engaged with the sealing ring block.
As a preferable technical solution of the present invention, a shielding cavity having a spherical inner space is formed between the shielding cover and the shielding cage main body.
In a preferred embodiment of the present invention, the radiotherapy apparatus using the cobalt-60 radioactive source based on the robot arm is used, when a patient is treated with radiotherapy, the mechanical arm main body works to drive the radiotherapy mechanism to move, the radiotherapy mechanism with the ray source is moved to the part of the patient needing radiotherapy, the shielding cover is separated from the shielding cover main body at the moment, wherein the shielding cover main body is arc-shaped cut behind the ray source to form through holes, thereby greatly reducing the total mass of the shielding cover main body and further greatly reducing the load of the mechanical arm main body, wherein the through hole is positioned at the rear of the ray source and faces to the direction far away from the patient, so the increased leakage ray has no influence on the patient and the treatment, after the radiotherapy is finished, the mechanical arm main body works to drive the radiotherapy mechanism to reset, and the radiotherapy mechanism is covered with the shielding cover on the wall body to restore the shielding effect.
The invention has the beneficial effects that: this kind of radiotherapy device based on cobalt 60 radiation source of arm, when carrying out the radiotherapy to the patient, then arm main part work, drive radiotherapy mechanism motion, the radiotherapy mechanism that will have the ray source removes the position that needs carry out the radiotherapy to the patient, the shield cover separates with the shield cover main part this moment, wherein the shield cover main part cuts down at the rear arc of ray source and forms the through-hole, greatly reduce the quality of shield cover main part totality, thereby greatly reduced the load of arm main part, wherein the through-hole is located the rear of ray source, towards the direction of keeping away from patient, consequently, it increases and all does not have the influence to patient and treatment to leak the ray, after radiation treatment accomplishes, arm main part work, drive radiotherapy mechanism and reset the motion, then close with the shield cover lid on the wall body, make its shielding effect resume.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a radiotherapy device based on a cobalt-60 radioactive source with a mechanical arm;
FIG. 2 is a schematic structural diagram of a shield main body of a radiotherapy device based on a cobalt 60 radioactive source of a mechanical arm;
FIG. 3 is a schematic illustration of the docking of the shield body and the shield cover of a cobalt-60 radioactive source radiotherapy apparatus based on a robotic arm according to the present invention;
FIG. 4 is a schematic view of a shield cover of a cobalt-60 radioactive source based radiotherapy apparatus of the present invention;
FIG. 5 is a schematic structural diagram of a sealing ring groove of a radiotherapy device based on a cobalt 60 radioactive source of a mechanical arm;
fig. 6 is a schematic structural diagram of a sealing ring block of a radiotherapy device based on a cobalt 60 radioactive source of a mechanical arm.
In the figure: 1. rotating the base; 2. a base plate; 3. a robot arm main body; 4. a radiotherapy mechanism; 5. a first robot arm; 6. a second mechanical arm; 7. a third mechanical arm; 8. an electric rotating base; 9. a shield case; 10. a shield case main body; 11. a through hole; 12. a shield cover; 13. an electric push rod; 14. a propulsion plate; 15. a sealing ring block; 16. sealing the ring groove; 17. and (4) ray holes.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
Example (b): as shown in fig. 1-6, the cobalt 60 radioactive source radiotherapy device based on a mechanical arm comprises a rotating base 1 and a bottom plate 2 fixed on a wall body, wherein a mechanical arm main body 3 is arranged on the rotating base 1, a radiotherapy mechanism 4 with a radioactive source is arranged at the front end of the mechanical arm main body 3, the mechanical arm main body 3 comprises a first mechanical arm 5 which is arranged on the rotating base 1 and is vertically upward, a second mechanical arm 6 is arranged at the front end of the first mechanical arm 5, a third mechanical arm 7 is arranged at the front end of the second mechanical arm 6, an electric rotating base 8 is arranged at the front end of the third mechanical arm 7, the radiotherapy mechanism 4 is fixed on the electric rotating base 8, a shielding cover 9 for covering the radiotherapy mechanism 4 is fixed on the electric rotating base 8, the shielding cover 9 comprises a shielding cover main body 10 with a spherical structure, and a radioactive hole 17 for emitting rays of the radioactive source is arranged at the front end of the shielding cover main body 10, the shielding cover main body 10 is provided with a through hole 11 at the rear of the ray source, and a shielding cover 12 for covering the through hole 11 is fixed on the bottom plate 1;
the mechanical arm main body drives the radiotherapy mechanism arranged at the front end of the mechanical arm main body to move, so that a through hole of the shielding cover main body behind the ray source corresponds to the shielding cover on the bottom plate, and a closed shielding space is formed inside the shielding cover main body.
Be equipped with on bottom plate 2 and fix a pair of electric putter 13 on bottom plate 2 to shield cover 12 propulsive advancing docking mechanism, advancing docking mechanism includes that the level fixes a pair of electric putter 13 on bottom plate 2, be equipped with propulsion board 14 between electric putter 13's the flexible end, shield cover 12 is fixed on propulsion board 14's lateral wall, has played and has carried out propulsive effect to shield cover 12, is convenient for shield cover 12 and the accurate butt joint of through-hole 11 at the rear of shield cover 9 ray source, and is convenient for shield cover 12 and the through-hole 11 at the rear of shield cover 9 ray source separately to the radiotherapy mechanism that has the ray source in the shield cover 9 is overhauld in the convenience.
The through holes 11 are formed by arc cutting on the shielding case main body 10 of the spherical structure and behind the ray source, so that the overall quality of the shielding case main body is greatly reduced, the load of the mechanical arm main body is greatly reduced, the through holes are located behind the ray source and face the direction far away from a patient, and therefore the increase of the leakage rays has no influence on the patient and treatment.
Form sealed docking mechanism between through-hole 11 and the shielding lid 12, sealed docking mechanism including set up at through-hole 11 port department and along the sealed ring piece 15 of through-hole 11 port circumference setting, shielding lid 12 is last be equipped with sealed ring piece complex sealed annular 16, played fine butt joint sealing effect, can not produce and reveal.
A shielding cavity with a spherical inner space is formed between the shielding cover 12 and the shielding case main body 10, and the radiation therapy mechanism with the radiation source in the shielding case main body 10 cannot collide with the shielding cavity, so that the radiation therapy mechanism is damaged.
The use mode of the radiotherapy device of the cobalt 60 radioactive source based on the mechanical arm is that when a patient is subjected to radiotherapy, the mechanical arm main body works to drive the radiotherapy mechanism to move, the radiotherapy mechanism with the radioactive source moves to a position where the patient needs to carry out radiotherapy, the shielding cover is separated from the shielding cover main body at the moment, the shielding cover main body is arc-shaped at the rear of the radioactive source to reduce the through hole, the total quality of the shielding cover main body is greatly reduced, the load of the mechanical arm main body is greatly reduced, the through hole is positioned at the rear of the radioactive source and faces the direction far away from the patient, so that the leakage rays are increased to not influence the patient and the treatment, after the radiotherapy is completed, the mechanical arm main body works to drive the radiotherapy mechanism to reset, and then the shielding cover on a wall is closed to recover the shielding effect.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (6)

1. The utility model provides a cobalt 60 radiation therapy device of radiation source based on arm which characterized in that: comprises a rotary base (1) and a bottom plate (2) fixed on a wall body, wherein a mechanical arm main body (3) is arranged on the rotary base (1), a radiotherapy mechanism (4) with a ray source is arranged at the front end of the mechanical arm main body (3), the mechanical arm main body (3) comprises a first vertical and upward mechanical arm (5) arranged on the rotary base (1), a second mechanical arm (6) is arranged at the front end of the first mechanical arm (5), a third mechanical arm (7) is arranged at the front end of the second mechanical arm (6), an electric rotary base (8) is arranged at the front end of the third mechanical arm (7), the radiotherapy mechanism (4) is fixed on the electric rotary base (8), a shielding cover (9) covering the radiotherapy mechanism (4) is fixed on the electric rotary base (8), and the shielding cover (9) comprises a shielding cover main body (10) with a spherical structure, the front end of the shield cover main body (10) is provided with a ray hole (17) for emitting rays of the ray source, the shield cover main body (10) is provided with a through hole (11) at the rear of the ray source, and a shield cover (12) for covering the through hole (11) is fixed on the bottom plate (1);
the mechanical arm main body drives the radiotherapy mechanism arranged at the front end of the mechanical arm main body to move, so that a through hole of the shielding cover main body behind the ray source corresponds to the shielding cover on the bottom plate, and a closed shielding space is formed inside the shielding cover main body.
2. The radiotherapy device of cobalt 60 radioactive source based on mechanical arm as claimed in claim 1, wherein the bottom plate (2) is provided with a propelling docking mechanism for propelling the shielding cover (12), the propelling docking mechanism comprises a pair of electric push rods (13) horizontally fixed on the bottom plate (2), a propelling plate (14) is arranged between the telescopic ends of the electric push rods (13), and the shielding cover (12) is fixed on the outer side wall of the propelling plate (14).
3. The radiotherapy apparatus of claim 1, wherein said through hole (11) is formed by an arc-shaped cut on the shield body (10) of a sphere structure and located at the rear of the radiation source.
4. The radiotherapy device of cobalt 60 radioactive source based on mechanical arm as claimed in claim 1, wherein a sealing and butt-jointing mechanism is formed between the through hole (11) and the shielding cover (12), the sealing and butt-jointing mechanism comprises a sealing ring block (15) which is arranged at the port of the through hole (11) and is circumferentially arranged along the port of the through hole (11), and the shielding cover (12) is provided with a sealing ring groove (16) which is matched with the sealing ring block.
5. The cobalt-60 radioactive source radiotherapy device based on mechanical arm as claimed in claim 1, wherein a shielding cavity with a spherical inner space is formed between the shielding cover (12) and the shielding case body (10).
6. The radiotherapy device of cobalt 60 radioactive source based on mechanical arm as claimed in claims 1-5, wherein the radiotherapy device of cobalt 60 radioactive source based on mechanical arm is used in such a way that when a patient is treated with radiotherapy, the main body of mechanical arm is operated to drive the radiotherapy mechanism to move, the radiotherapy mechanism with radiation source is moved to the position where the patient needs to be treated with radiotherapy, the shield cover is separated from the main body of shield cover, wherein the main body of shield cover is arc-cut at the rear of radiation source to form a through hole, which greatly reduces the total mass of the main body of shield cover, thereby greatly reducing the load of the main body of mechanical arm, wherein the through hole is located at the rear of radiation source and faces away from the patient, so that the increase of radiation leakage has no influence on the patient and the treatment, and when the radiotherapy is completed, the main body of mechanical arm is operated to drive the radiotherapy mechanism to reset, then the shielding cover is covered with the shielding cover on the wall body, so that the shielding effect is recovered.
CN202111126728.5A 2021-09-26 2021-09-26 Cobalt 60 radiation source radiotherapy device based on mechanical arm Pending CN113730831A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202111126728.5A CN113730831A (en) 2021-09-26 2021-09-26 Cobalt 60 radiation source radiotherapy device based on mechanical arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202111126728.5A CN113730831A (en) 2021-09-26 2021-09-26 Cobalt 60 radiation source radiotherapy device based on mechanical arm

Publications (1)

Publication Number Publication Date
CN113730831A true CN113730831A (en) 2021-12-03

Family

ID=78740895

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202111126728.5A Pending CN113730831A (en) 2021-09-26 2021-09-26 Cobalt 60 radiation source radiotherapy device based on mechanical arm

Country Status (1)

Country Link
CN (1) CN113730831A (en)

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