CN115212463A - Medical radiotherapy device - Google Patents
Medical radiotherapy device Download PDFInfo
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- CN115212463A CN115212463A CN201510481495.9A CN201510481495A CN115212463A CN 115212463 A CN115212463 A CN 115212463A CN 201510481495 A CN201510481495 A CN 201510481495A CN 115212463 A CN115212463 A CN 115212463A
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- 238000001959 radiotherapy Methods 0.000 title claims abstract description 78
- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 230000008093 supporting effect Effects 0.000 claims abstract description 17
- 230000002285 radioactive effect Effects 0.000 claims 1
- 208000019155 Radiation injury Diseases 0.000 abstract description 3
- 230000005855 radiation Effects 0.000 description 10
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 210000002414 leg Anatomy 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- 206010025323 Lymphomas Diseases 0.000 description 1
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011243 body radiation therapy Methods 0.000 description 1
- 210000001217 buttock Anatomy 0.000 description 1
- 201000011510 cancer Diseases 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000011241 protective layer Substances 0.000 description 1
- 230000000191 radiation effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
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Abstract
The invention provides a medical radiotherapy device, relates to the technical field of accelerator radiotherapy, and solves the problems that when the traditional medical radiotherapy device needs radiotherapy, the traditional medical radiotherapy device needs to be manually positioned and the posture and the position of a treatment head need to be manually adjusted, so that the efficiency is low, and unnecessary radiation injury is possibly caused to an operator. Wherein the medical radiation therapy device comprises: a body; the frame is used for supporting the machine body and comprises a fixed frame arranged on the machine body and a movable frame at least partially arranged on the machine body in a sliding manner, wherein the movable frame is separated from the fixed frame and is separately arranged; the mechanical arm is provided with a bed plate and comprises a first sliding rail and a machine base connected with the first sliding rail; the first driving mechanism is connected to the rack; a second drive mechanism connected to the robotic arm. Therefore, manual operation is not needed, and the working efficiency of the treatment equipment is improved.
Description
Technical Field
The invention relates to the technical field of accelerator radiotherapy, in particular to a medical radiotherapy device.
Background
Whole-body radiotherapy is radiation therapy of all parts of the whole body. General radiotherapy is used for treating malignant tumor at advanced stage, such as lymphoma, and the radiotherapy ensures that the whole body of a patient can be irradiated and protects important organs of the body to reduce side effects of the radiotherapy. Accelerator devices are expensive and are required to meet the needs of therapy with the possibility of whole-body radiotherapy in addition to isocentric irradiation.
Disclosure of Invention
The embodiment of the invention aims to provide a medical radiotherapy device, which is used for solving the problems that when the traditional medical radiotherapy device needs radiotherapy, the traditional medical radiotherapy device needs to be manually placed and the posture and the position of a treatment head need to be manually adjusted, so that the efficiency is low, and unnecessary radiation injury can be caused to an operator.
In order to achieve the above object, an embodiment of the present invention provides a medical radiation therapy apparatus, including:
a body;
the frame is used for supporting the machine body and comprises a fixed frame arranged on the machine body and a movable frame at least partially arranged on the machine body in a sliding manner, wherein the movable frame is separated from the fixed frame and is separately arranged;
the mechanical arm is provided with a bed plate and comprises a first sliding rail and a machine base connected with the first sliding rail;
the first driving mechanism is connected to the rack;
a second drive mechanism connected to the robotic arm;
the working state of the medical radiotherapy device comprises a first working state that the movable rack is driven by the first driving mechanism to be positioned at a first position opposite to the fixed rack, the first sliding rail connected with the base is driven by the second driving mechanism to move, and the mechanical arm drives the bed board to move to the inside of the machine body;
or the movable rack slides relative to the machine body under the drive of the first driving mechanism, the length distance of the movable rack is larger than or equal to that of the bed board, the movable rack deviates from the position of the first position, the second driving mechanism drives the first sliding rail connected with the machine base to move, and the mechanical arm drives the bed board to move to a second working state at the position between the outer side of the machine body and the movable rack.
Further, the organism including set up in the second slide rail of organism outside, wherein the moving rack with the second slide rail is connected.
Furthermore, the movable rack comprises a rack protrusion which is arranged on the movable rack and slides along a first preset slide way.
Further, the first driving mechanism comprises a first motor or a first hydraulic cylinder which is arranged on the movable rack;
the second driving mechanism comprises a second motor or a second hydraulic cylinder arranged on the machine base.
Further, the body includes a first rotating body and a second rotating body provided with a treatment head emitting radiation, wherein the second rotating body is sleeved inside the first rotating body, the first rotating body does not rotate, and the second rotating body rotates relative to the first rotating body.
Further, the first rotating body comprises a fixed surface and a moving surface connected with the fixed surface, wherein the moving surface is slidably sleeved in the fixed surface;
the working state of the first rotating machine body comprises that the moving surface protrudes out of the fixed surface relatively, and a closed first state is formed between the moving surface and the fixed surface; or the movable surface slides to coincide with the fixed surface, a gap is formed between the movable surface and the fixed surface, and the treatment head of the second rotating body rotates to a second state relative to the position of the gap.
Wherein above-mentioned medical radiotherapy device still includes:
and the third driving mechanism is connected to the machine body and comprises a third motor arranged on the first rotating machine body and a fourth motor arranged on the second rotating machine body.
Further, the robot arm includes: one end with the removal arm that the frame is connected and the other end of removal arm with the bed board is connected, wherein the removal arm includes a plurality of axis of rotation, connects gradually between a plurality of axis of rotation, and is provided with 360 degrees rotations or 180 degrees pivoted rotating head in every axis of rotation.
Further, the second moving mechanism includes: and each rotating shaft is correspondingly provided with one servo motor.
Furthermore, the bed board comprises a supporting surface and a protrusion arranged on the supporting surface.
The first cross section of the protrusion is triangular, wherein the first cross section is a cross section along the length direction of the supporting surface.
Furthermore, the second section of the protrusion is rectangular, wherein the second section is a section along the length direction of the supporting surface, and the protrusion is located at one end of the length direction of the bed board.
The technical scheme of the embodiment of the invention has the following beneficial effects:
in the scheme of the embodiment of the invention, the second driving mechanism connected to the mechanical arm is controlled to drive the first slide rail to move, and the first driving mechanism connected to the rack is controlled to drive the movable rack to slide, so that the mechanical arm drives the bed board to move, manual operation is not needed, the original manual operation mode is changed into an automatic operation mode, the operation of an operator caused by frequent access of the operator into and out of a treatment room is avoided, the operator is prevented from being damaged by radiation due to residual radiation of the treatment room, and the working efficiency of using treatment equipment is improved.
Drawings
FIG. 1 is a schematic structural diagram of a medical radiation treatment apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a medical radiation treatment apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic view showing a general radiotherapy structure of a medical radiation therapy apparatus according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a medical radiation treatment apparatus according to an embodiment of the present invention;
FIG. 5 is a schematic structural view illustrating a whole-body radiotherapy of a medical radiation therapy device according to an embodiment of the present invention;
FIG. 6 is a schematic view of a robotic arm according to an embodiment of the present invention in structural connection;
FIG. 7 is a schematic view of a table top for a lying down type whole body radiotherapy in accordance with an embodiment of the present invention;
FIG. 8 is a schematic view of a table top for a lying down type whole body radiotherapy apparatus according to an embodiment of the present invention;
FIG. 9 is a schematic view of one of the couch plates for lying down type whole body radiotherapy according to an embodiment of the present invention;
FIG. 10 is a schematic view of one of the couch plates for sitting posture whole body radiotherapy in accordance with the present invention;
FIG. 11 is a schematic view of one of the couch plates for sitting posture whole body radiotherapy in accordance with the present invention;
fig. 12 is a schematic view of one of the bed panels of the sitting posture whole body radiotherapy in accordance with the embodiment of the present invention.
Description of the reference numerals:
1-body, 11-first rotating body, 111-fixed surface, 112-moving surface, 12-second rotating body, 121-treatment head, 2-frame, 21-fixed frame, 22-moving frame, 221-frame projection, 3-mechanical arm, 31-frame, 311-first slide rail, 32-first rotating shaft, 33-second rotating shaft, 34-third rotating shaft, 35-fourth rotating shaft, 36-fifth rotating shaft, 37-sixth rotating shaft, 38-seventh rotating shaft, 4-bed plate, 41-supporting surface, and 42-projection.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
The embodiment of the invention aims at the problems that the traditional medical radiotherapy device in the prior art needs manual positioning and manual adjustment of the posture position of a treatment head when radiotherapy is needed, the use efficiency is low, and unnecessary radiation injury is possibly caused to operators.
As shown in fig. 1 to 5, a medical radiation therapy apparatus according to an embodiment of the present invention includes:
a machine body 1;
a frame 2 supporting the machine body 1, wherein the frame 2 comprises a fixed frame 21 arranged on the machine body 1 and a movable frame 22 at least partially slidably arranged on the machine body 1, and the movable frame 22 is separately arranged from the fixed frame 21;
the mechanical arm 3 is provided with a bed plate 4, wherein the mechanical arm 3 comprises a first slide rail 311 and a base 31 connected with the first slide rail 311;
a first driving mechanism connected to the frame 2;
a second drive mechanism connected to the robot arm 3;
the working state of the medical radiotherapy device comprises a first working state that the first driving mechanism drives the movable rack 22 to be located at a first position opposite to the fixed rack 21, the second driving mechanism drives the first sliding rail 311 connected with the machine base 31 to move, and the mechanical arm 3 drives the bed plate 4 to move to the inside of the machine body 1;
or driven by the first driving mechanism, the movable frame 22 slides relative to the machine body 1, the distance is greater than or equal to the length distance of the bed plate 4 and deviates from the position of the first position, the second driving mechanism drives the first slide rail 311 connected with the machine base 31 to move, and the mechanical arm 3 drives the bed plate 4 to move to a second working state between the outer side of the machine body 1 and the movable frame 22.
In the embodiment of the invention, the second driving mechanism connected to the mechanical arm 3 is controlled to drive the first slide rail 311 to move, and the first driving mechanism connected to the frame 2 is controlled to drive the movable frame 22 to slide, so that the mechanical arm 3 drives the bed plate 4 to move, manual operation is not needed, the original manual operation mode is changed into an automatic operation mode, operation of an operator due to frequent entering and exiting of a treatment room is avoided, radiation damage caused by residual radiation of the treatment room is avoided, and the working efficiency of using treatment equipment is improved.
It should be noted that: the first driving mechanism includes a first motor or a first hydraulic cylinder provided to the moving frame 21 so as to move the moving frame 22 and the base 31 of the robot arm 3;
the second driving mechanism includes a second motor or a second hydraulic cylinder disposed on the base 31.
When the first driving mechanism comprises a first motor arranged on the mobile rack 21, the first motor is connected with an external terminal, and a control instruction is input to the first motor through the terminal, so that the first motor controls the mobile rack 22 to move, wherein the first motor is connected with the terminal through a line; similarly, the first hydraulic cylinder is an actuator for converting hydraulic energy into mechanical energy by controlling, but the above first driving mechanism is not limited to the above two driving manners, and any driving manner capable of implementing the driving of the moving frame 21 is within the protection scope of the embodiment of the present invention.
When the second driving mechanism includes a second motor disposed on the base 31, the second motor is connected to an external terminal, and a control command is input to the second motor through the terminal, so that the second motor controls the base 31 of the robot arm 3 to move, wherein the second motor is connected to the terminal through a line. Similarly, the second hydraulic cylinder is an actuator for converting hydraulic energy into mechanical energy by controlling, and the second driving mechanism is not limited to the above two driving manners, and any driving manner capable of driving the base 31 of the robot arm 3 is within the protection scope of the embodiment of the present invention. Preferably, in the embodiment of the present invention, the second motor drives the base 31 to move along the first slide rail 311, so as to facilitate the movement of the entire mechanical arm 3.
In addition, the first slide rail 311 connected to the base 31 can slide along a second preset slide rail, where the second preset slide rail is a fixed slide rail that is manually pre-measured on the ground or is set according to a user requirement, so as to facilitate the movement of the robot arm 3.
In order to enable the movable rack 22 to slide relative to the machine body 1, in the medical radiation therapy device according to the embodiment of the present invention, the machine body 1 includes a second slide rail disposed outside the machine body 1, wherein the movable rack 22 is connected to the second slide rail.
In the embodiment of the present invention, the moving frame 22 slides along the rail of the second sliding rail, which not only prevents the problem of loss caused by long-term use due to the fact that the moving frame 22 directly slides relative to the machine body 1 due to the existence of the second sliding rail, but also prevents the problem of instability of the supporting machine body 1 due to the fact that the moving frame 22 slides along the rail of the second sliding rail deviating from the machine body 1, thereby improving the moving efficiency.
In order to enable the movable frame 22 to move, in the medical radiation therapy device according to the embodiment of the present invention, the movable frame 22 includes a frame protrusion 221 that is disposed on the movable frame 22 and slides along a first preset slide.
It should be noted that: the first preset slide is a fixed slide which is set on the ground for people to measure in advance or is set according to the requirements of users, so that the frame protrusion 221 of the movable frame 22 can be moved conveniently. Specifically, the frame protrusion 221 is disposed right below the movable frame 22 and abuts against the first preset slide.
Still, organism 1 includes limit structure, wherein limit structure set up in a limit strip in the edge of organism 1 includes a spacing sunken rectangular corresponding to above-mentioned removal frame 22, not only prevents above-mentioned removal frame 22 to slide and drop in above-mentioned organism 1, influences the problem to the supporting effect of organism 1, has increased limit structure and the sliding construction through removing frame 22 moreover, has improved the relative gliding efficiency of above-mentioned organism 1 with above-mentioned removal frame 22.
In order to improve the efficiency of the movement, the movable frame 22 is more easily rotated by the shaft wheel, and the movable frame 22 includes a shaft wheel disposed below the movable frame 22.
In order to realize a general radiotherapy after the movable gantry 22 and the robot arm 3 are moved, in the medical radiotherapy apparatus according to an embodiment of the present invention, the body 1 includes a first rotating body 11 and a second rotating body 12 provided with a treatment head 121 for emitting radiation, wherein the second rotating body 12 is sleeved inside the first rotating body 11, the first rotating body 11 does not rotate, and the second rotating body 12 rotates with respect to the first rotating body 11.
In the embodiment of the invention, when the medical radiotherapy device is in the first working state, the first driving mechanism drives the movable rack 22 to be located at the first position opposite to the fixed rack 21, and the first slide rail 311 connected with the base 31 is driven to move by the second driving mechanism, and the mechanical arm 3 drives the bed plate 4 to move to the inside of the machine body 1, because the second rotating machine body 12 with the treatment head 121 is sleeved inside the first rotating machine body 11 and rotates relative to the first rotating machine body 11, the treatment head 121 can be arranged at the position opposite to the bed plate 4 inside the machine body 1, in order to treat the target to be treated on the bed plate 4, the treatment of the target to be treated is facilitated, manual operation is not required, and the operation of an operator in the treatment process is simplified.
It should be noted that: the second rotating body 12 can rotate to treat different needs of the object to be treated, and is inside the body 1, belonging to a local common radiotherapy (i.e. the first working condition).
As shown in fig. 3, when the first rotating body 11 rotates, the table plate 4 is positioned inside the body 1 (generally, the position inside the body 1 is the rotation central axis portion of the rotating body 1), and the first rotating body 11 can rotate around the table plate 4, and the dotted line in the drawing reflects the irradiation range of the irradiation field. .
The machine frame 2, the treatment head 121 and the rotating body 1 mainly generate beam current required by radiotherapy.
For the whole body radiotherapy, there is a relationship with the distance between the treatment head 121, therefore, in the medical radiotherapy device according to the embodiment of the present invention, the first rotating body 11 includes a fixed surface 111 and a moving surface 112 connected to the fixed surface 111, wherein the moving surface 112 is slidably sleeved in the fixed surface 111;
the working state of the first rotating body 11 includes that the moving surface 112 protrudes relatively from the fixed surface 111, and a closed first state is formed between the moving surface 112 and the fixed surface 111; or the movable surface 112 slides to overlap with the fixed surface 111, a gap is formed between the movable surface 112 and the fixed surface 111, and the treatment head 121 of the second rotating body 12 rotates to a second state relative to the position of the gap.
In the embodiment of the present invention, when the medical radiotherapy apparatus is in the second working state, the first driving mechanism drives the movable frame 22 to slide relative to the machine body 1, the distance is greater than or equal to the length of the bed plate 4, the movable frame deviates from the position of the first position, and the second driving mechanism drives the first slide rail 311 connected to the base 31 to move, and the mechanical arm 3 drives the bed plate 4 to a position between the outside of the machine body 1 and the movable frame 22, because the second rotating machine body 12 having the treatment head 121 is sleeved inside the first rotating machine body 11 and rotates relative to the first rotating machine body 11, and the first rotating machine body 11 can be relatively closed (the first state) and opened (the second state), so that the treatment head 121 and the bed plate 4 inside the machine body 1 can be relatively arranged to treat the target to be treated on the bed plate 4, which not only facilitates the treatment of the target to be treated, but also does not require manual operation, simplifies the operation of an operator during the treatment, and can also achieve the functions of whole body radiotherapy and general radiotherapy.
It should be noted that: the medical radiotherapy device in the second working state is whole-body radiotherapy, and for the treatment head 121, when the bed plate 4 driven by the mechanical arm 3 is located on the side of the machine body 1, the distance between the treatment head 121 and the bed plate 4 is greater than the distance between the treatment head 121 and the bed plate 4 when the bed plate 4 driven by the mechanical arm 3 is located inside the machine body 1, so that whole-body radiotherapy can be realized, generally, in the embodiment of the present invention, the distance between the treatment head 121 and the bed plate 4 driven by the mechanical arm 3 is preferably within a range of 2 to 3 meters.
As shown in fig. 1 and 2, the medical radiation therapy device performs whole-body radiation therapy, the table 4 is located on one side of the medical radiation therapy device (i.e., at a position where the movable gantry 22 is moved away), and the dotted line in the drawing reflects the irradiation range of the irradiation field.
The specific application process of the embodiment of the invention is illustrated as follows:
step 1, if whole-body radiotherapy is needed, human body parameters need to be scanned firstly;
and 3, after the human body is scanned, inputting the parameters to the terminal, and controlling the parameters through the terminal, wherein the mechanical arm 3, the machine body 1 and the movable rack 22 are driven by motors to operate, the moving parameters are fed back to the terminal, and the terminal controls all the operations, so that the mechanical arm 3, the movable rack 22 and the machine body 1 rotate.
In order to enable the first rotating body 11 and the second rotating body 12 in the machine body 1 to move, the medical radiotherapy apparatus according to the embodiment of the present invention further includes:
and a third driving mechanism connected to the body (1), wherein the third driving mechanism comprises a third motor arranged on the first rotating body (11) and a fourth motor arranged on the second rotating body (12).
It should be noted that the third motor is connected to an external terminal, and a control instruction is input to the third motor through the terminal, so that the third motor controls the first rotating body 11 to move, where the third motor is connected to the terminal through a line.
The fourth motor is connected to an external terminal, and a control command is input to the fourth motor through the terminal, so that the fourth motor controls the second rotating body 12 to move, wherein the fourth motor is connected to the terminal through a line.
In order to enable the table 4 and the mechanical arm 3 to flexibly rotate and move, in the medical radiotherapy apparatus according to the embodiment of the present invention, the mechanical arm 3 includes: one end with the removal arm that frame 31 is connected and the other end of removal arm with bed board 4 is connected, wherein the removal arm includes a plurality of axis of rotation, connects gradually between a plurality of axis of rotation, and is provided with 360 degrees rotations or 180 degrees pivoted rotating head in every axis of rotation.
In the embodiment of the invention, the movable arms are connected with each other through the plurality of rotating shafts, and the rotating heads of the rotating shafts enable the degree of freedom of the mechanical arm 3 to be extremely high and the mechanical arm to rotate in multiple directions, so that the treatment couch is driven by the mechanical arm 3 to move, accurate positioning and rapid position adjustment (enabling the bed plate 4 to be vertical, horizontal and laterally turned) can be realized, in the specific treatment process, the bed plate 4 is slightly inclined, the treatment head 121 irradiates on a target to be treated on the bed plate 4, the treatment is finished, manual operation of the bed plate 4 is not needed, and the operation of an operator in the treatment process is simplified.
It should be noted that: in the embodiment of the present invention, the number of the plurality of rotation shafts may be 4, 5, or 6, and in order to increase the degree of freedom of the robot arm 3 and to realize multi-directional rotation of the robot arm 3, as shown in fig. 6, it is preferable that the number of the plurality of rotation shafts is 6 or 7, the plurality of rotation shafts include a first rotation shaft 32, a second rotation shaft 33, a third rotation shaft 34, a fourth rotation shaft 35, a fifth rotation shaft 36, a sixth rotation shaft 37, and/or a seventh rotation shaft, wherein the second rotation shaft 33, the third rotation shaft 34, the fourth rotation shaft 35, the fifth rotation shaft 36, and the sixth rotation shaft 37 are connected in sequence and are disposed between the base 31 and the table plate 4, and the seventh rotation shaft is disposed on the base 31;
one end of each of the first rotating shaft 32, the fourth rotating shaft 35 and the sixth rotating shaft 37 is provided with a rotating head of 360 degrees (i.e., plus or minus 180 degrees), and one end of each of the second rotating shaft 33, the third rotating shaft 34, the fifth rotating shaft 36 and the seventh rotating shaft is provided with a rotating head of 180 degrees (i.e., plus or minus 90 degrees), so that the degree of freedom of the robot arm 3 is improved by the interconnection of the plurality of rotating shafts, and the rotation of the bed plate 4 on the robot arm 3 in a plurality of directions is ensured.
In order to control the flexible rotation and movement between the plurality of rotation axes of the table plate 4 and the robot arm 3, in the medical radiotherapy apparatus according to the embodiment of the present invention, the second moving mechanism includes: and each rotating shaft is correspondingly provided with one servo motor.
In an embodiment of the present invention, the first rotating shaft 32, the second rotating shaft 33, the third rotating shaft 34, the fourth rotating shaft 35, the fifth rotating shaft 36, the sixth rotating shaft 37, and the seventh rotating shaft are all connected to a single servo motor, and one of the rotating shafts is provided with one servo motor, so that the respective rotating shafts can be controlled, and the top board 4 can be flexibly rotated on the robot arm 3 in multiple directions.
It should be noted that: above-mentioned every axis of rotation corresponds a servo motor that sets up to set up same motor in every axis of rotation, can set up the motor of different grade type according to the demand of axis of rotation separately.
And each servo motor is connected with an external terminal, and a control instruction is input to the servo motor through the terminal, so that the servo motor controls each rotating shaft to move, wherein the servo motor is connected with the terminal through a circuit.
In order to position or support the object to be treated lying down, in the medical radiotherapy apparatus according to the embodiment of the invention, the bed plate 4 includes a support surface 41 and a protrusion 42 disposed on the support surface 41.
In the embodiment of the invention, the legs and the buttocks of the target to be treated are tightly attached to the bulges 42, so that the position of the target to be treated on the bed plate 4 can be realized, the error caused by the deviation of the target to be treated and the rotation of the target to be treated on the radiotherapy can be avoided, the accuracy of the radiotherapy is improved, the guidance and the operation of operators are avoided, and the user experience effect is also improved.
As shown in fig. 7 to 9, in order to realize that the target to be treated can lie on the bed plate 4, in the medical radiation treatment apparatus according to the embodiment of the present invention, the first cross section of the protrusion 42 is a triangle, wherein the first cross section is a cross section along the length direction of the supporting surface 41.
In the specific application of the embodiment of the present invention, the old people who like to lie down should select the treatment bed with the triangular protrusion 42.
As shown in fig. 10 to 12, in order to provide a user with a plurality of options, a device that can sit on the bed plate 4 needs a supporting function, in the medical radiation therapy device according to the embodiment of the present invention, the second cross section of the protrusion 42 is rectangular, wherein the second cross section is a cross section along the length direction of the supporting surface 41, and the protrusion 42 is located at one end of the length direction of the bed plate 4.
In a specific application of an embodiment of the present invention, a treatment couch with rectangular protrusions 42 is selected, typically when a child prefers to sit.
For the object to be treated lying on a treatment bed or sitting on a treatment chair, the object to be treated needs to be fixed by a bandage (for preventing human movement, fixation is not fixed, and radiation effect is guaranteed) after the posture of the object to be treated is determined, a proper treatment posture can be selected according to the body characteristics of the object to be treated, and a proper shielding protective layer is added at the part needing to be protected (in order to avoid over-irradiation to local good organs, if only legs have problems, the abdominal cavity and other parts can be shielded for radiotherapy).
The bed board 4 connected by the mechanical arm 3 is used for adjusting the working position of a patient to be treated, the bed board 4 (the bed board 4 is used for bearing the person to be treated, so the bed can be also called as a treatment bed) can adjust the distance according to the treatment requirement and the physical characteristics of the patient, the movable rack 22 is adopted to meet the requirement of whole-body radiotherapy, and the treatment head 121 is positioned at one end (positioned on the machine body 1) of the diameter when in the horizontal state and is at the working position of the treatment head 121 during the whole-body radiotherapy.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (12)
1. A medical radiation therapy device, comprising:
a body (1);
a frame (2) supporting the machine body (1), wherein the frame (2) comprises a fixed frame (21) arranged on the machine body (1) and a movable frame (22) at least partially arranged on the machine body (1) in a sliding manner, and the movable frame (22) and the fixed frame (21) are separately arranged;
the mechanical arm (3) is provided with a bed plate (4), wherein the mechanical arm (3) comprises a first sliding rail (311) and a base (31) connected with the first sliding rail (311);
the first driving mechanism is connected to the rack (2);
a second drive mechanism connected to the robot arm (3);
the working state of the medical radiotherapy device comprises a first working state that the movable rack (22) is driven by the first driving mechanism to be located at a first position opposite to the fixed rack (21), the first sliding rail (311) connected with the machine base (31) is driven by the second driving mechanism to move, and the mechanical arm (3) drives the bed plate (4) to move to the inside of the machine body (1);
or the movable rack (22) slides relative to the machine body (1) under the drive of the first driving mechanism, the length distance of the bed plate (4) is larger than or equal to the position deviating from the first position, the first sliding rail (311) connected with the machine base (31) is driven to move through the second driving mechanism, and the mechanical arm (3) drives the bed plate (4) to move to a second working state between the outer side of the machine body (1) and the movable rack (22).
2. The medical radiation therapy device according to claim 1,
the machine body (1) comprises a second sliding rail arranged on the outer side of the machine body (1), wherein the movable rack (22) is connected with the second sliding rail.
3. The medical radiation therapy device according to claim 1,
the movable rack (22) comprises a rack bulge (221) which is arranged on the movable rack (22) and slides along a first preset slide way.
4. The medical radiation therapy device according to claim 1,
the first driving mechanism comprises a first motor or a first hydraulic cylinder arranged on the movable rack (21);
the second driving mechanism comprises a second motor or a second hydraulic cylinder arranged on the machine base (31).
5. The medical radiation therapy device according to any one of claims 1 to 4,
the body (1) comprises a first rotating body (11) and a second rotating body (12) provided with a treatment head (121) emitting radioactive rays, wherein the second rotating body (12) is sleeved inside the first rotating body (11), the first rotating body (11) does not rotate, and the second rotating body (12) rotates relative to the first rotating body (11).
6. The medical radiation therapy device according to claim 5,
the first rotating body (11) comprises a fixed surface (111) and a moving surface (112) connected with the fixed surface (111), wherein the moving surface (112) is slidably sleeved in the fixed surface (111);
the working state of the first rotating body (11) comprises that the moving surface (112) relatively protrudes out of the fixed surface (111), and a closed first state is formed between the moving surface (112) and the fixed surface (111); or the moving surface (112) slides to overlap with the fixed surface (111), a gap is formed between the moving surface (112) and the fixed surface (111), and the treatment head (121) of the second rotating body (12) rotates to a second state relative to the position of the gap.
7. The medical radiation therapy device of claim 6, further comprising:
and the third driving mechanism is connected to the machine body (1), and comprises a third motor arranged on the first rotating machine body (11) and a fourth motor arranged on the second rotating machine body (12).
8. The medical radiation therapy device according to any one of claims 1 to 4,
the robot arm (3) comprises: one end with the removal arm that frame (31) are connected and the other end of removal arm with bed board (4) are connected, wherein the removal arm includes a plurality of axis of rotation, connects gradually between a plurality of axis of rotation, and is provided with 360 degrees rotations or 180 degrees pivoted rotating head in every axis of rotation.
9. Medical radiation therapy device according to claim 8,
the second moving mechanism includes: and each rotating shaft is correspondingly provided with one servo motor.
10. The medical radiation therapy device according to any one of claims 1 to 4,
the bed board (4) comprises a supporting surface (41) and a bulge (42) arranged on the supporting surface (41).
11. The medical radiation therapy device according to claim 10,
the first cross section of the protrusion (42) is triangular, wherein the first cross section is a cross section along the length direction of the supporting surface (41).
12. The medical radiation therapy device according to claim 10,
the second cross section of the protrusion (42) is rectangular, wherein the second cross section is a cross section along the length direction of the supporting surface (41), and the protrusion (42) is located at one end of the bed board (4) in the length direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| US20090220046A1 (en) * | 2008-02-29 | 2009-09-03 | Korea Institute Of Radiological & Medical Sciences | Collimator device for radiotherapy and radiotherapy apparatus using the same |
| CN104491991A (en) * | 2014-12-15 | 2015-04-08 | 泸州医学院附属医院 | Automatic positioning system for medical linear accelerator |
| CN204890968U (en) * | 2015-08-07 | 2015-12-23 | 北京大基康明医疗设备有限公司 | Medical radiation therapeutic device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101267767A (en) * | 2005-07-23 | 2008-09-17 | 断层放疗公司 | Radiation therapy imaging and delivery utilizing coordinated motion of gantry and couch |
| US20090220046A1 (en) * | 2008-02-29 | 2009-09-03 | Korea Institute Of Radiological & Medical Sciences | Collimator device for radiotherapy and radiotherapy apparatus using the same |
| CN104491991A (en) * | 2014-12-15 | 2015-04-08 | 泸州医学院附属医院 | Automatic positioning system for medical linear accelerator |
| CN204890968U (en) * | 2015-08-07 | 2015-12-23 | 北京大基康明医疗设备有限公司 | Medical radiation therapeutic device |
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