CN113877084A - A body surface marking device for radiotherapy location - Google Patents
A body surface marking device for radiotherapy location Download PDFInfo
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- CN113877084A CN113877084A CN202111276161.XA CN202111276161A CN113877084A CN 113877084 A CN113877084 A CN 113877084A CN 202111276161 A CN202111276161 A CN 202111276161A CN 113877084 A CN113877084 A CN 113877084A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- 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
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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
- A61N2005/105—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using a laser alignment system
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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
- A61N2005/1054—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using a portal imaging system
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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
- A61N2005/1092—Details
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Abstract
The invention discloses a body surface marking device for radiotherapy positioning, which comprises a control system and a bracket, wherein the control system is used for controlling the positioning of a body surface; the bracket is provided with a top side marking device, a left side marking device and a right side marking device which are respectively positioned above, on the left side and on the right side of the treatment bed; the top side marking device, the left side marking device and the right side marking device are respectively provided with a laser receiving sensor for receiving corresponding laser emitted by the CT simulation positioning three-dimensional laser system, the laser receiving sensors are connected with a signal input end of a control system, a control output end of the control system is respectively connected with the top side marking device, the left side marking device and the right side marking device, and the control system is used for controlling the marking work of the top side marking device, the left side marking device and the right side marking device according to sensing signals of the laser receiving sensors. The scheme can solve the human error caused by the manual marking of the medical staff, not only can improve the marking and positioning accuracy, but also can reduce the workload of the medical staff.
Description
Technical Field
The invention relates to the technical field of CT (computed tomography) radiotherapy, in particular to a body surface marking device for radiotherapy positioning.
Background
At present, the marking of radiotherapy positioning mainly depends on that medical staff uses a special marking pen to mark on the body of a patient (sometimes tattoo is also adopted to mark) or the body membrane of the patient according to laser lines; however, the manual position marking mode of the medical staff inevitably has human errors, affects the accuracy of radiotherapy positioning marking, and increases the workload of the medical staff.
Disclosure of Invention
The invention discloses a body surface marking device for radiotherapy positioning, which aims to solve the problems that the radiotherapy positioning is inevitable and has human errors due to the fact that the conventional CT radiotherapy positioning depends on manual marking of medical staff, the accuracy of the radiotherapy positioning marking is influenced, and the workload of the medical staff is increased.
In order to solve the problems, the invention adopts the following technical scheme:
a body surface marking device for radiotherapy positioning comprises a control system, a support, and a top side marking device, a left side marking device and a right side marking device which are arranged on the support, wherein the top side marking device is positioned above a treatment couch, and the left side marking device and the right side marking device are respectively positioned on the left side and the right side of the treatment couch; the top side marking device, the left side marking device and the right side marking device are respectively provided with a laser receiving sensor, the laser receiving sensors are connected with a signal input end of a control system, and a control output end of the control system is respectively connected with the top side marking device, the left side marking device and the right side marking device; the laser receiving sensor is used for receiving corresponding laser emitted by the CT simulation positioning three-dimensional laser system and sending a generated sensing signal to the control system, and the control system controls the marking work of the top side marking device, the left side marking device and the right side marking device according to the received sensing signal.
Optionally, the support includes the horizontal pole of treatment bed top can be arranged in to the level and can respectively vertically arrange two montants of treatment bed both sides in, the top of two montants connect respectively in the both ends of horizontal pole, the bottom of two montants sets up respectively on corresponding base, just the base is provided with running gear, be used for the walking of support removes.
Optionally, the running mechanism comprises at least 3 roller mechanisms; the roller mechanism comprises a hub motor, a travelling wheel, a mounting arm and a steering engine; the travelling wheel is arranged on the outer side of the hub motor, a bearing part of the hub motor is connected with the mounting arm, the mounting arm is rotatably connected with the base, and the steering engine is arranged on the base and is in transmission connection with the mounting arm; the mounting arm rotates under the acting force of the steering engine, and the rotation of the roller mechanism is controlled through the rotation of the mounting arm.
Optionally, the base is provided with a mounting groove and a connecting arm; the top end of the connecting arm is positioned in the mounting groove and is in limit fit with the notch of the mounting groove, the bottom end of the connecting arm is positioned outside the mounting groove and is provided with a mounting seat, the mounting arm is rotatably connected with the mounting seat, and the steering engine is arranged on the mounting seat; and a telescopic mechanism is arranged in the mounting groove, is connected with the connecting arm and is used for controlling the connecting arm to move along the mounting groove in a telescopic manner.
Optionally, a bearing pressure sensor is arranged at a bearing portion of the in-wheel motor, the bearing pressure sensor is connected with the telescopic mechanism through the control system, and the control system controls the telescopic action of the telescopic mechanism according to the pressure monitored by the bearing pressure sensor.
Optionally, the top side marking device, the left side marking device and the right side marking device are all disposed on the cross rod and located inside the support, and the cross rod and the two vertical rods are respectively provided with a transparent portion or an opening, so that laser emitted by the CT analog positioning three-dimensional laser system can correspondingly pass through the cross rod and the two vertical rods to irradiate on the corresponding laser receiving sensors.
Optionally, the top ends of the two vertical rods are rotatably connected with the two ends of the cross rod through first lifting mechanisms respectively, and the heights of the two ends of the cross rod can be adjusted through the corresponding first lifting mechanisms respectively to adjust the horizontal state of the cross rod.
Optionally, the top side marking device is connected with the cross bar through a second lifting mechanism, and the height of the top side marking device can be marked through the second lifting mechanism; the left marking device and the right marking device are respectively connected with the cross rod through a movable adjusting mechanism, and the positions of the left marking device and the right marking device can be respectively adjusted along the length direction of the cross rod through the corresponding movable adjusting mechanism.
Optionally, a walking groove is formed in the bottom surface of the cross beam, side walls on two sides of a notch of the walking groove are bent inwards to form a supporting portion, and a rack is arranged on the supporting portion along the length direction of the cross beam; the moving adjusting mechanism comprises a moving seat and a double-shaft motor, the double-shaft motor is arranged on the inner side of the moving seat and is positioned in the walking groove, and output shafts on two sides of the double-shaft motor are respectively provided with a gear meshed with the corresponding rack; the left marking device and the right marking device are respectively connected with the corresponding movable seat.
Optionally, the top side marking device, the left side marking device and the right side marking device each comprise a vertical cantilever and a marking mechanism, respectively; the top of vertical cantilever with the horizontal pole is connected, marking mechanism set up in the bottom of vertical cantilever, and towards the treatment couch, just marking mechanism is provided with the image acquisition unit for the monitoring tracks marking mechanism's mark position.
The technical scheme adopted by the invention can achieve the following beneficial effects:
the body surface marking equipment for radiotherapy positioning disclosed by the invention provides a bearing foundation for the installation and arrangement of the top side marking device, the left side marking device and the right side marking device through the bracket; meanwhile, the top side marking device, the left side marking device and the right side marking device are respectively provided with a laser receiving sensor, the laser receiving sensors are respectively connected through a signal input end of a control system, and a control output end of the control system is respectively connected with the top side marking device, the left side marking device and the right side marking device, so that corresponding laser emitted by the CT analog positioning three-dimensional laser system can be received through the laser receiving sensors, and a generated sensing signal is sent to the control system, so that the control system can control the marking work of the top side marking device, the left side marking device and the right side marking device according to the received sensing signal, and further, the artificial error of manual marking and positioning of medical staff is avoided; therefore, the CT radiotherapy positioning method can improve the positioning accuracy of CT radiotherapy and reduce the workload of medical staff; generally, the support provided with the top side marking device, the left side marking device and the right side marking device is arranged in the CT room, and the control system is arranged in the control room, so that the medical staff is prevented from entering and exiting the CT room frequently due to the need of manual marking, and the radiation safety of the medical staff is guaranteed.
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 invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a body surface marking device for radiotherapy positioning disclosed in an embodiment of the invention;
FIG. 2 is a schematic structural diagram of a traveling mechanism disclosed in an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a first lifting mechanism disclosed in the embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a movement adjustment mechanism disclosed in an embodiment of the present invention;
FIG. 5 is a schematic structural view of a crash prevention mechanism disclosed in an embodiment of the present invention;
description of reference numerals:
100-transverse rod, 101-lifting platform, 102-walking groove, 103-moving seat, 104-double-shaft motor, 105-gear, 106-rack, 107-cantilever, 110-vertical rod, 1101-groove, 1102-scissor type lifting mechanism, 120-base, 1201-telescopic mechanism, 1202-connecting arm, 1203-spring, 1204-mounting seat, 1205-steering engine, 121-walking wheel, 122-laser sensor,
200-treatment couch, 210-top side marker, 220-left side marker, 221-collision avoidance, 222-first moving groove, 223-second moving groove, 224-marker execution, 230-right side marker.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the specific embodiments of the present invention and the accompanying drawings. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The technical solutions disclosed in the embodiments of the present invention are described in detail below with reference to the accompanying drawings.
Referring to fig. 1 to 5, the disclosed body surface marking apparatus for positioning radiotherapy in an embodiment of the present invention includes a control system, a support, and a top side marking device 210, a left side marking device 220, and a right side marking device 230 disposed on the support, wherein the top side marking device 210 is located above the treatment couch 200, and the left side marking device 220 and the right side marking device 230 are respectively located at the left side and the right side of the treatment couch 200; the top side marking device 210, the left side marking device 220 and the right side marking device 230 are respectively provided with a laser receiving sensor, the laser receiving sensors are connected with a signal input end of a control system, and a control output end of the control system is respectively connected with the top side marking device 210, the left side marking device 220 and the right side marking device 230; the laser receiving sensor is used for receiving corresponding laser emitted by the CT simulated positioning three-dimensional laser system and sending a generated sensing signal to the control system, and the control system controls the marking work of the top side marking device 210, the left side marking device 220 and the right side marking device 230 according to the received sensing signal.
Wherein, a bearing foundation is provided for the installation arrangement of the top side marking device 210, the left side marking device 220 and the right side marking device 230 through the bracket; also, the top, left and right side markers 210, 220, 230 may be connected to the bracket by respective cantilevers 107 such that the top, left and right side markers 210, 220, 230 are at a desired hanging height.
Meanwhile, the top side marking device 210, the left side marking device 220 and the right side marking device 230 are respectively provided with a laser receiving sensor, the laser receiving sensors are respectively connected through a signal input end of a control system, and a control output end of the control system is respectively connected with the top side marking device 210, the left side marking device 220 and the right side marking device 230, so that corresponding laser emitted by the CT analog positioning three-dimensional laser system can be received through the laser receiving sensors, and generated sensing signals are sent to the control system, so that the control system can control the marking work of the top side marking device 210, the left side marking device 220 and the right side marking device 230 according to the received sensing signals, and further, the artificial error of manual marking and positioning of medical staff is avoided.
Therefore, the CT radiotherapy positioning method can improve the positioning accuracy of CT radiotherapy and reduce the workload of medical staff; generally, the support provided with the top side marker 210, the left side marker 220 and the right side marker 230 is placed in the CT room, and the control system is placed in the control room, so that frequent entering and exiting of the CT room due to manual marking by medical staff is avoided, and radiation safety of the medical staff is guaranteed.
Specifically, as shown in fig. 1, the support includes the horizontal pole 100 that can horizontally arrange the treatment bed 200 top in and can respectively vertically arrange two montants 110 in treatment bed 200 both sides in, the top of two montants 110 is connected respectively in the both ends of horizontal pole 100, the bottom of two montants 110 sets up respectively on corresponding base 120, and base 120 is provided with running gear, thereby realized the walking of support and removed through running gear, before and after the use, can conveniently remove body surface marking device to idle position, and then can remove body surface marking device to the operating position at treatment bed 200 place when using, and then be favorable to the normalized management of equipment, and avoid influencing patient and medical staff's normal activity.
It is easy to understand that, in order to ensure accurate positioning of the traveling movement of the traveling mechanism, as shown in fig. 1, laser sensors 122 are respectively disposed on the two bases 120 and located at the outer sides, and the laser sensors 122 are respectively connected with the braking systems of the traveling mechanisms of the corresponding bases 120; generally, the top side laser instrument of CT simulation positioning three-dimensional laser system sets up in the roof in CT room, the left side laser instrument sets up in the left side wall in CT room, the right side laser instrument sets up in the right side wall in CT room, thereby when running gear moved to required position, laser inductor 122 through on two bases 120 can respond to CT simulation positioning three-dimensional laser system's left side laser instrument and the laser line that the right side laser instrument launches respectively, and brake the lock according to the brake system action of the laser line control running gear that senses, and then realized running gear's automatic walking location, be favorable to automatic mobile design.
Meanwhile, the control system can be provided with a walking recording unit, the idle position of the body surface marking device is set to be an initial position, the working position of the body surface marking device is set to be a termination position, the walking recording unit is used for recording a walking path from the initial position to the termination position of the walking mechanism, the control system can control the walking mechanism to return to the initial position from the termination position according to the inverse process of the walking path recorded by the walking recording unit, and then automatic movement control of the body surface marking device between the idle position and the working position is achieved.
The travelling mechanism disclosed in the embodiment of the invention can be designed as a roller mechanism, and in order to ensure the stable movement of the base 120, the number of the roller mechanisms is at least 3; as a design structure of the roller mechanism, the roller mechanism may include a hub motor, a road wheel 121, a mounting arm, and a steering engine 1205; the travelling wheel 121 is arranged on the outer side of the hub motor, a bearing part of the hub motor is connected with the mounting arm, the mounting arm is rotatably connected with the base 120, and the steering engine 1205 is arranged on the base 120 and is in transmission connection with the mounting arm through a transmission belt or a gear assembly and the like; the mounting arm rotates under the action of the steering engine 1205, and the rotation of the roller mechanism is controlled through the rotation of the mounting arm; the steering engine can be a servo motor or a stepping motor and the like.
Wherein, the rotation walking and the brake control of the walking wheel 121 are realized through a hub motor, and the steering control of the walking wheel 121 is realized through a steering engine 1205; meanwhile, the control system can be respectively in control connection with the hub motor and the steering engine 1205, so that the remote control of medical staff in a control room is facilitated; it should be noted that the hub motor is a motor designed by integrating a power system, a transmission system, and a brake system, and belongs to the prior art, and the structural principle of the hub motor is not described in detail in this embodiment.
In order to avoid potential safety hazard and keep the support stable due to the suspension of the road wheels 121, as shown in fig. 2, the base 120 is provided with a mounting groove and a connecting arm 1202; the top end of the connecting arm 1202 is located in the mounting groove and is in limit fit with the notch of the mounting groove, the bottom end of the connecting arm 1202 is located outside the mounting groove and is provided with a mounting seat 1204, the mounting arm is rotatably connected with the mounting seat 1204, and the steering engine 1205 is arranged on the mounting seat 1204; a telescopic mechanism 1201 is arranged in the mounting groove, and the telescopic mechanism 1201 is connected with the connecting arm 1202 and used for controlling the telescopic movement of the connecting arm 1202 along the mounting groove, so that each travelling wheel 121 can be effectively contacted with the ground; and, the elevation control through each walking wheel 121 can also be used for the horizontal adjustment of the crossbar 100 and prevent the bracket from toppling due to the inclination. The telescoping mechanism 1201 can be an electric telescopic rod or a hydraulic telescopic rod.
Preferably, a spring 1203 is also arranged in the mounting groove; the connecting arm 1202 is sleeved with the spring 1203, and the two ends of the spring 1203 abut against the top end portion of the connecting arm 1202 and the end portion of the notch of the mounting groove respectively, so that a damping effect can be achieved through the spring 1203, and the walking mechanism is favorable for improving the stability of walking and moving.
In order to realize automatic control of lifting of the travelling mechanism, a bearing pressure sensor can be arranged at a bearing part of the hub motor, the bearing pressure sensor is connected with the telescoping mechanism 1201 through a control system, and the control system controls the telescoping action of the telescoping mechanism 1201 according to the pressure monitored by the bearing pressure sensor; when the monitored pressure of the bearing pressure sensor is smaller than the set threshold range of the control system, the telescopic mechanism 1201 acts to control the connecting arm 1202 to extend out along the mounting groove, so that the traveling wheels 121 are in contact with the ground, and when the monitored pressure of the bearing pressure sensor reaches the set threshold range of the control system, the telescopic mechanism 1201 stops acting, and automatic control is achieved.
In the body surface marking device disclosed by the embodiment of the invention, the top side marking device 210, the left side marking device 220 and the right side marking device 230 are all arranged on the cross rod 100 and are positioned at the inner side of the support, and the cross rod 100 and the two vertical rods 110 are respectively provided with the transparent parts or openings, so that laser emitted by the CT simulated positioning three-dimensional laser system can penetrate through the cross rod 100 and the two vertical rods 110 through the corresponding transparent parts or openings and irradiate on the corresponding laser receiving sensors, and the light is prevented from being shielded.
The top ends of the two vertical bars 110 are rotatably connected with the two ends of the cross bar 100 through the first lifting mechanisms respectively, and the heights of the two ends of the cross bar 100 can be adjusted through the corresponding first lifting mechanisms respectively, so that not only can the horizontal state of the cross bar 100 be adjusted, but also the heights of the top side marking device 210, the left side marking device 220 and the right side marking device 230 can be adjusted together, and the therapeutic bed is suitable for the height of the therapeutic bed 200 and the body thickness of a patient.
Meanwhile, the top side marking device 210 can be connected with the cross bar 100 through the second lifting mechanism, and the height of the top side marking device 210 can be adjusted through the second lifting mechanism, so that the height position of the top side marking device 210 can be independently adjusted, and the flexibility and the adaptability of adjustment can be better increased; the left marking device 220 and the right marking device 230 can be connected with the cross bar 100 through a movement adjusting mechanism respectively, and the positions of the left marking device 220 and the right marking device 230 can be adjusted along the length direction of the cross bar 100 through the corresponding movement adjusting mechanism respectively, so that the left marking device and the right marking device can be adapted to patients with different body widths.
As an embodiment of the first lifting mechanism, a scissor type lifting mechanism 1102 can be selected as the first lifting mechanism; generally, scissor lift 1102 includes a rotatable and foldable scissor arm, a lift table 101 and a driving electric cylinder, which belong to the prior art, and the structure of the scissor lift is not described in detail in this embodiment; specifically, as shown in fig. 3, a groove 1101 is formed at the top end of the vertical rod 110, the bottom end of the lifting platform 101 is located in the groove 1101, and the top end of the lifting platform 101 is rotatably connected with the cross rod 100 through hinges such as a rotating shaft; the top and the bottom of scissors arm set up respectively through the running roller structure among the spout of elevating platform 101 bottom surface and type groove 1101 bottom surface to connect in the driving electric jar, thereby stretch out through the driving electric jar and remove the drive control scissors arm and rotate and expand, in order to realize the jacking of elevating platform 101 and remove, remove the drive control scissors arm through the withdrawal of driving electric jar and rotate folding, in order to realize the descending movement of elevating platform 101.
As an embodiment of the movement adjusting mechanism, as shown in fig. 4, a walking groove 102 is provided on the bottom surface of the beam, and the side walls on both sides of the notch of the walking groove 102 are bent inward to form a support portion, and the support portion is provided with a rack 106 along the length direction of the beam; the moving adjusting mechanism comprises a moving seat 103 and a double-shaft motor 104, the double-shaft motor 104 is arranged on the inner side of the moving seat 103 and is positioned in the walking groove 102, and output shafts on two sides of the double-shaft motor 104 are respectively provided with a gear 105 meshed with a corresponding rack 106; the left marking device 220 and the right marking device 230 are respectively connected with the corresponding movable base 103; therefore, the double-shaft motor 104 drives the gears 105 on the two sides to synchronously rotate in the forward direction and the reverse direction, so that the gears 105 move forwards and backwards along the racks 106, and further the moving seat 103 is driven to move, and the movement adjustment of the left marking device 220 and the right marking device 230 along the cross bar 100 is realized.
Of course, the first lifting mechanism can also be an electric telescopic rod, a hydraulic telescopic rod or a cylinder and other lifting mechanisms, and the second lifting mechanism can be the same as the first lifting mechanism; the movement adjusting mechanism can also adopt a roller mechanism with a braking system and the like; the embodiment of the invention does not limit the structural types of the first lifting mechanism, the second lifting mechanism and the movement adjusting mechanism.
In order to realize automatic control, the cross bar 100 may be provided with an inclinometer, the inclinometer is connected to a data input end of the control system, and a control output end of the control system is connected to the first lifting mechanisms of the two vertical bars 110; the inclinometer is used for monitoring the horizontal state data of the cross rod 100 and transmitting the horizontal state data to the control system, and the control system judges the horizontal state of the cross rod 100 according to the horizontal state data and respectively controls the actions of the first lifting mechanisms of the two vertical rods 110.
If the inclinometer monitors that the cross bar 100 is in a non-horizontal state, the control system controls the first lifting mechanisms of the two vertical bars 110 to act so as to adjust the cross bar 100 to be in a horizontal state; if the inclinometer monitors that the cross bar 100 is in a horizontal state, the control system controls the first lifting mechanisms of the two vertical bars 110 to stop acting; therefore, automatic adjustment control of the horizontal state of the cross bar 100 is realized; preferably, the inclinometer is a digital display inclinometer with a display function, such as an HDI200 digital display inclinometer or an HDI700 touch digital display inclinometer.
Meanwhile, the movement adjusting mechanism and the second lifting mechanism can also be in control connection with the control system, and the movement of the movement adjusting mechanism and the second lifting mechanism can be controlled through the control system; the control system in this embodiment may be a controller or a computer system, etc., in which a control program is stored.
In the body surface marking device disclosed by the embodiment of the invention, the top side marking device 210, the left side marking device 220 and the right side marking device 230 respectively comprise a vertical cantilever 107 and a marking mechanism; the top of the cantilever 107 is connected with the cross bar 100, the marking mechanism is arranged at the bottom of the vertical cantilever 107 and faces towards the treatment couch 200, and the marking mechanism is provided with an image acquisition unit for monitoring and tracking the marking position of the marking mechanism.
Wherein, the marking mechanism comprises a base, a marking execution part 224 and a protection part 221; the protection part 221 and the mark execution part 224 are both arranged on the base, and the protection part 221 is positioned around the mark execution part 224 and protrudes out of the mark execution part 224, so that the mark execution part 224 and a patient can be protected by the protection part 221; preferably, the protection part 221 is disposed on the base through an elastic element such as a spring or a spring plate, and a pressure sensor is disposed at a position of the base corresponding to the elastic element and connected to the control system; when the protection part 221 contacts with a patient, the protection part is squeezed, so that the pressure sensor generates a sensing signal and sends the sensing signal to the control system, and the control system controls the movement adjusting mechanism to stop moving according to the received sensing signal, so that the mark execution part 224 is located at a required working position.
In order to better control the distance between the marking execution part 224 and the patient marking position, the marking execution part 224 is connected with the base through an electric cylinder or a rack and pinion type telescopic mechanism, so that the marking execution part 224 is driven to move forwards and backwards towards the patient marking position through the telescopic movement of the telescopic mechanism, the requirement of the marking distance is better met, and the defect that the rack and pinion type movement adjusting mechanism cannot continuously move the adjusting position is overcome; the image acquisition unit is preferably a WeChat camera and is arranged at the mark execution part 224; the marker actuating portion 224 may also be provided with an infrared equidistance sensor for monitoring the distance between the marker actuating portion 224 and the patient's marker location and transmitting the monitored distance information to the control system.
Specifically, as shown in fig. 5, the protective part 221 is provided with a transverse first moving groove 222 and a longitudinal second moving groove 223, and forms an orthogonal cross-shaped moving groove, and the marking part is arranged in the cross-shaped moving groove, so that the protective effect is formed by the protective part 221; the base is provided with the removal module, mark execution portion 224 passes through telescopic machanism and sets up on removing the module, remove the module and be connected with control system control, thereby control procedure through control system preset can move along ten "font shifting chute through removing module control mark execution end, and then make mark execution portion 224's mark more nimble, not only can form crisscross" font mark, but also can be as required at patient's left side, right side, upper and lower each mark at least one position in the position that needs the mark position, can be with the position of confirming the crosspoint, can avoid the special position that patient can not mark again.
It is easy to understand that the mark execution part 224 in the embodiment of the present invention may be a laser gun for laser tattooing, a spray gun with a spraying function, or a mechanism for printing a mark and pasting the printed mark on the patient mark position, and the embodiment does not limit the type structure of the mark execution part 224; the protective part 221 may be a sponge cushion, or an elastic cushion with a net structure; the moving module may include a transverse moving module and a longitudinal moving module, the longitudinal moving module is disposed on the transverse moving module, and the mark performing part 224 is disposed on the longitudinal moving module through a telescopic mechanism, so that the movement of the mark performing part 224 along the first moving groove 222 and the second moving groove 223 is realized through the transverse moving module and the longitudinal moving module; wherein, linear motor module, lead screw sharp module or hold-in range sharp module etc. can be chooseed for use to lateral shifting module and longitudinal movement module.
In the above embodiments of the present invention, the difference between the embodiments is mainly described, and different optimization features between the embodiments can be combined to form a better embodiment as long as they are not contradictory, and further description is omitted here in view of brevity of the text.
The above description is only an example of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (10)
1. A body surface marking device for radiotherapy positioning is characterized by comprising a control system, a support, and a top side marking device, a left side marking device and a right side marking device which are arranged on the support, wherein the top side marking device is positioned above a treatment couch, and the left side marking device and the right side marking device are respectively positioned on the left side and the right side of the treatment couch; the top side marking device, the left side marking device and the right side marking device are respectively provided with a laser receiving sensor, the laser receiving sensors are connected with a signal input end of a control system, and a control output end of the control system is respectively connected with the top side marking device, the left side marking device and the right side marking device; the laser receiving sensor is used for receiving corresponding laser emitted by the CT simulation positioning three-dimensional laser system and sending a generated sensing signal to the control system, and the control system controls the marking work of the top side marking device, the left side marking device and the right side marking device according to the received sensing signal.
2. A body surface marking apparatus for radiotherapy positioning as claimed in claim 1, wherein the support comprises a cross bar horizontally disposed above the treatment couch and two vertical bars vertically disposed at two sides of the treatment couch respectively, top ends of the two vertical bars are connected to two ends of the cross bar respectively, bottom ends of the two vertical bars are disposed on corresponding bases respectively, and the bases are provided with a traveling mechanism for traveling movement of the support.
3. A body surface marking apparatus for radiation therapy positioning as claimed in claim 2 wherein said walking mechanism includes at least 3 roller mechanisms; the roller mechanism comprises a hub motor, a travelling wheel, a mounting arm and a steering engine; the travelling wheel is arranged on the outer side of the hub motor, a bearing part of the hub motor is connected with the mounting arm, the mounting arm is rotatably connected with the base, and the steering engine is arranged on the base and is in transmission connection with the mounting arm; the mounting arm rotates under the acting force of the steering engine, and the rotation of the roller mechanism is controlled through the rotation of the mounting arm.
4. A body surface marking apparatus for radiotherapy positioning as claimed in claim 3, wherein the base is provided with mounting slots and connecting arms; the top end of the connecting arm is positioned in the mounting groove and is in limit fit with the notch of the mounting groove, the bottom end of the connecting arm is positioned outside the mounting groove and is provided with a mounting seat, the mounting arm is rotatably connected with the mounting seat, and the steering engine is arranged on the mounting seat; and a telescopic mechanism is arranged in the mounting groove, is connected with the connecting arm and is used for controlling the connecting arm to move along the mounting groove in a telescopic manner.
5. A body surface marking device for radiotherapy positioning as claimed in claim 4, wherein the bearing part of the hub motor is provided with a bearing pressure sensor, and the bearing pressure sensor is connected with the telescoping mechanism through the control system, and the control system controls the telescoping action of the telescoping mechanism according to the pressure monitored by the bearing pressure sensor.
6. A body surface marking apparatus for radiotherapy positioning as claimed in claim 2, wherein the top side marking device, the left side marking device and the right side marking device are all disposed on the cross bar and located inside the support, and the cross bar and the two vertical bars are respectively provided with transparent portions or openings, so that the laser emitted from the CT analog positioning three-dimensional laser system can pass through the cross bar and the two vertical bars to irradiate the corresponding laser receiving sensors.
7. The body surface marking device for radiotherapy positioning as claimed in claim 6, wherein the top ends of the two vertical rods are respectively connected with the two ends of the cross rod by a first lifting mechanism in a rotating manner, and the heights of the two ends of the cross rod can be respectively adjusted by the corresponding first lifting mechanisms for adjusting the horizontal state of the cross rod.
8. A body surface marking apparatus for radiotherapy positioning as claimed in claim 7 wherein the top side marking device is connected to the cross bar by a second lifting mechanism and the height of the top side marking device is made possible by the second lifting mechanism; the left marking device and the right marking device are respectively connected with the cross rod through a movable adjusting mechanism, and the positions of the left marking device and the right marking device can be respectively adjusted along the length direction of the cross rod through the corresponding movable adjusting mechanism.
9. The body surface marking device for radiotherapy positioning as claimed in claim 8, wherein the bottom surface of the beam is provided with a walking groove, and the side walls of the two sides of the notch of the walking groove are bent inwards to form a support part, and the support part is provided with a rack along the length direction of the beam; the moving adjusting mechanism comprises a moving seat and a double-shaft motor, the double-shaft motor is arranged on the inner side of the moving seat and is positioned in the walking groove, and output shafts on two sides of the double-shaft motor are respectively provided with a gear meshed with the corresponding rack; the left marking device and the right marking device are respectively connected with the corresponding movable seat.
10. A body surface marking apparatus for radiotherapy positioning according to any of claims 1 to 9, wherein the top side marking means, the left side marking means and the right side marking means each comprise a vertical cantilever and a marking mechanism, respectively; the top of vertical cantilever with the horizontal pole is connected, marking mechanism set up in the bottom of vertical cantilever, and towards the treatment couch, just marking mechanism is provided with the image acquisition unit for the monitoring tracks marking mechanism's mark position.
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| CN202111276161.XA CN113877084B (en) | 2021-10-29 | 2021-10-29 | A body surface marking device for radiotherapy location |
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| CN202111276161.XA CN113877084B (en) | 2021-10-29 | 2021-10-29 | A body surface marking device for radiotherapy location |
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