CN203220379U - Six-freedom degree G-shaped arm real-time imaging system - Google Patents
Six-freedom degree G-shaped arm real-time imaging system Download PDFInfo
- Publication number
- CN203220379U CN203220379U CN 201320164852 CN201320164852U CN203220379U CN 203220379 U CN203220379 U CN 203220379U CN 201320164852 CN201320164852 CN 201320164852 CN 201320164852 U CN201320164852 U CN 201320164852U CN 203220379 U CN203220379 U CN 203220379U
- Authority
- CN
- China
- Prior art keywords
- arm
- ray
- time imaging
- real
- shape arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Abstract
The utility model belongs to a six-freedom degree G-shaped arm real-time imaging system which belongs to the field of medical equipment. The system is formed by sequentially connecting a G-shaped arm, a G arm slide rail, a G arm rotating shaft, a G arm pitch shaft and a pedestal, wherein two groups of X-ray generators and X-ray plane dynamic detecting plates are correspondingly arranged on the G-shaped arm; the pedestal is arranged in a rail; and the rail is arranged on the ceiling or the ground of a treatment room, so that the pedestal can do two-dimensional movement on the plane of the ceiling or do longitudinal movement along the three-dimensional treatment bed direction on the ground. The defects of the prior art are overcome by the six-freedom degree G-shaped arm real-time imaging system, the six-freedom degree G-shaped arm real-time imaging system is wide in working range and flexible in action, two orthotropic X-ray images can be obtained at the same time, dynamic tracking on tumor can be realized, overall tumor accurate radiation therapy can be performed, and cardiovascular disease treatment and renal nerve disease noninvasive regulation can also be performed.
Description
Technical field
This utility model relates to field of medical, is specially a kind of six degree of freedom G shape arm real-time imaging system.
Background technology
Present G shape arm real-time imaging system has only the degree of freedom of a rotation, radioscopic image for generation of two width of cloth quadratures in a zone, in patent CN102715914A, showed a kind of G shape arm real-time imaging system of single-degree-of-freedom, this equipment is for generation of 3-D view, because it has only one degree of freedom, working range is narrow, move dumb, need artificially to shift equipment onto suitable position, so this equipment use very inconvenient, efficient is low, and precision is low.Fast (such as heart movement: average heart beating is about 80 times/minute because to histoorgan motion change speed such as heart, blood vessels, the highest instantaneous linear velocity can reach 1 meter per second), the speed that this picture equipment of will hoping for success arrives the relevant position is fast and accurately, the G shape arm of present single-degree-of-freedom and C shape arm real-time imaging system can't the positional change even amount carry out good real time location tracking than big and the fast histoorgan of movement velocity.
Summary of the invention
The purpose of this utility model is narrow in order to overcome the prior art working range, move dumb, can not be applied to the defective of the Kinematic Positioning tracing process etc. of some tissue or organ, provide a kind of working range wide, flexible movements can obtain the radioscopic image of two width of cloth quadratures simultaneously, can realize the six degree of freedom G shape arm real-time imaging system to the dynamic tracking of tumor, both can carry out the general tumour accurate radiotherapy, and also can carry out treating cardiovascular disease and kidney sacred disease noinvasive and regulate.
The purpose of this utility model is achieved through the following technical solutions:
Six degree of freedom G shape arm real-time imaging of the present utility model system is by G shape arm (11), G arm slide rail (6), G arm rotating shaft (3), G arm pitch axis (2) and pedestal (1) connect and compose successively, x ray generator (4) and X ray plane dynamic instrumentation plate (8) are one group, x ray generator (7) and X ray plane dynamic instrumentation plate (5) are another group, two groups of correspondences are installed on the G shape arm (11), pedestal (1) is installed in the track (10), track (10) is installed on therapeutic room's ceiling (12) or the ground, makes pedestal (1) do two dimensional motion or do on the ground along the lengthwise movement of three-dimensional therapeutic bed (9) direction in ceiling plane.
In the such scheme, described G shape arm (11) can move up and down, the bootable two groups of x ray generators of G arm slide rail (6) and X ray plane dynamic instrumentation plate are done the motion greater than 90 degree, G shape arm (11) can be around G arm rotating shaft (3) ± 90 ° rotation, can be around G arm pitch axis (2) swing ± 15 °; X ray generator (4), (7) and X ray plane dynamic instrumentation plate (5), (8) add fixedly in the mode of being slidingly connected, and screw is installed in G shape arm (11) both sides, be mutual vertical or out of plumb in order to regulate the line of two groups of x ray generators and X ray plane dynamic instrumentation plate, x ray generator is a kilovolt level, adjustable between 80～150kV, X ray plane dynamic instrumentation plate is CCD image amplifier or amorphous silicon flat panel detector or amorphous selenium flat-bed detector, and dynamic instrumentation plate maximum useful detection area in X ray plane can reach 41cm x 41cm.
In the such scheme, when described track (10) was installed on therapeutic room's ceiling (12), track (10) was by two orthogonal minute guide rails (13) and divide guide rail (14) to form.
In the such scheme, when described track (10) is installed on the ground, G arm pitch axis is connected to form successively by telescoping mechanism (15), vertical guide rail (16) and rotating shaft (17), and telescoping mechanism (15) is connected with G arm rotating shaft (3), and rotating shaft (17) is connected with pedestal (1).
Six degree of freedom G shape arm real-time imaging of the present utility model system is the equipment of an electromechanicsization, can rotate by the computer control corresponding motor, make the optional position in the G shape arm arrival space, any direction to the optional position in the space carries out the X ray projection, forms the radioscopic image of this direction.
This utility model is different with the mode that traditional C shape arm obtains radioscopic image, this utility model can obtain the radioscopic image of two width of cloth quadratures simultaneously, reduce the time of exposure of X ray simultaneously, thereby reduced the dosage of the X ray of patient's absorption, this innovation, can make non-tumor patient, as carry out the patient for the treatment of cardiovascular disease and the adjusting of kidney sacred disease noinvasive, receive minimum radiation dose.Therefore, this equipment have minimum operation risk, shorten operating time, reduce patient recovery time, operation one-time-reach-place, minimum advantages such as radiological dose.
Six degree of freedom G shape arm real-time imaging of the present utility model system can realize the dynamic tracking to tumor target tissue organ, the following description of concrete method:
At first, the G shape arm of six degree of freedom is moved to suitable position, adjust the position of two x ray generators and X ray plane dynamic instrumentation plate, make it to the prospective tumor target area.
Then, two x ray generators are to tumor target area radiation X ray, and X ray plane dynamic instrumentation plate obtains two width of cloth radioscopic images.
At last, computer is found out the DDR correspondence position from the CT image reconstruction automatically, the radioscopic image and the DRR that obtain are carried out nonrigid image registration, obtain radioscopic image with respect to the variable quantity of DRR translation and rotation in the space, calculate real-time position information when the pre-neoplastic target area by these variable quantities.
Six degree of freedom G shape arm real-time imaging of the present utility model system possesses the ability of the requirement of satisfying two aspects: the one, be similar to the CBCT imaging pattern, the X ray detecting system of quadrature rotates to an angle around isocenter point and carries out cone-beam (CB) fault imaging, obtains the volume imaging data of the objective of target area; The two-beam quadrature kV level X-ray imaging system of the 2nd, G shape arm is constantly located the isocenter point of target area barycenter and equipment, obtains the real time position of target area." imaging of two-beam quadrature X-ray " image and this volume images registration that G shape arm is real-time transfers data to radiotherapy system and carries out position, error compensation then, realizes real-time tracking compensation treatment, and two targets can realize in an equipment.
System of the present utility model is when being used for the cardiovascular disease patients with atrial fibrillation, configuration three-dimensional cardiac electro-anatomical mapping system, create the 3D endocardium image of the chambers of the heart interested according to mapping " signal ", adopt special algorithm to calculate the pseudo telecommunications number of endocardium excitement, it is projected on the 3D rendering of the chambers of the heart, based on these pseudo telecommunications number structure potential diagram, syncaryon magnetic resonance simultaneously, angiography etc., adopt image fusion technology, generate the three dimensional structure of the chambers of the heart in X line machine system, and carry out transparence and handle, carry out potential anomalies chambers of the heart portion location in conjunction with the exciting potential diagram of endocardium then, thereby the non-invasive therapy of atrial fibrillation is finished in the radiation that guiding accelerator ray produces.When being used for nephropathy or kidney neuroregulation patient, the neural navigation positioning system of the 3 D stereo of configure dedicated, by anatomical landmarks that patient body is existed or the outside reference point of introducing (as external frame, the patient skin labelling, the gold mark of implanting, magnetic element etc.) and they be combined as the tracking reference point, along human spine (as vertebral body), aorta, renal artery, branch's renal artery, renal veins, the supraneural point of kidney and/or kidney utilizes the X line 3-D view technological incorporation DSA of G shape arm quadrature, MRI or Functional MRI image, carry out target localization and/or the tracking of kidney nerve, the radiation that utilizes the accelerator ray to produce is finished and is reduced the sympathetic renal neural activity, realizes the kidney neuroregulation, reaches some disease for the treatment of and (comprises hypertension, heart failure, chronic nephropathy, insulin resistant disease, diabetes, metabolism syndrome etc.) possibility.
Six degree of freedom G shape arm real-time imaging of the present utility model system has six-freedom degree, conventional single-degree-of-freedom (rotating on the direction) or Three Degree Of Freedom (X, Y, the movement on three directions of Z) G shape arm the utlity model has following advantage:
(1) at work space substantial increase is arranged, the formation of unlimited amount can be provided to the attitude of G shape arm;
(2) can provide smooth movement locus;
(3) provide more nodes and more multipath also can provide the optimization in path to arrive node to arrive node;
(4) can set G shape arm safety zone, prevent with the safety zone outside object bump.
(5) by optimizing motion path, assigned address can be rapidly and efficiently reached, the histoorgan of some rapid movements can be located and follow the tracks of.
(6) if in the position fixing process, when patient position changes, need not adjust therapeutic bed and compensate, can utilize the corresponding position of six free G shape arm adjustment can realize its compensation process, convenient, flexible and can not produce uncomfortable sensation to the patient.
To sum up, this six degree of freedom G shape arm real-time imaging system has overcome the defective of prior art, working range is wide, flexible movements, can obtain the radioscopic image of two width of cloth quadratures simultaneously, can realize the dynamic tracking to tumor, both can carry out the general tumour accurate radiotherapy, also can carry out treating cardiovascular disease and kidney sacred disease noinvasive and regulate.Structure of the present utility model is conducive to open up a new route for the treatment of other diseases.
Description of drawings
Fig. 1 is the front schematic view of this utility model embodiment one.
Fig. 2 is the side schematic view of this utility model embodiment one.
Fig. 3 is ceiling plane guide rail layout.
Fig. 4 is the front schematic view of this utility model embodiment four.
Fig. 5 is the side schematic view of this utility model embodiment four.
In the accompanying drawing, 1: pedestal; 2:G arm pitch axis; The rotating shaft of 3:G arm; The 4:X ray generator; 5:X ray plane dynamic instrumentation plate; 6:G arm slide rail; The 7:X ray generator; 8:X ray plane dynamic instrumentation plate; 9: three-dimensional therapeutic bed; 10: guide rail; 11:G shape arm; 12: ceiling; 13: divide guide rail; 14: divide guide rail; 15: telescoping mechanism; 16: vertical guide rail; 17: rotating shaft.
Specific embodiment
Be described in further detail this utility model below in conjunction with drawings and Examples, but this utility model is not limited only to described embodiment.
Embodiment one
Six degree of freedom G shape arm real-time imaging system such as Fig. 1, Fig. 2 and shown in Figure 3 that this is routine, connected and composed successively by G shape arm 11, G arm slide rail 6, G arm rotating shaft 3, G arm pitch axis 2 and pedestal 1, x ray generator 4 and X ray plane dynamic instrumentation plate 8 are one group, x ray generator 7 and X ray plane dynamic instrumentation plate 5 are another group, two groups of correspondences are installed on the G shape arm 11, pedestal 1 is installed in the track 10, track 10 is installed on therapeutic room's ceiling 12, makes pedestal 1 do two dimensional motion in ceiling plane.
Embodiment two
This routine six degree of freedom G shape arm real-time imaging system is the amorphous silicon flat panel detector except X ray plane dynamic instrumentation plate, and all the other are with embodiment one.
Embodiment three
This routine six degree of freedom G shape arm real-time imaging system is the amorphous selenium flat-bed detector except X ray plane dynamic instrumentation plate, and all the other are with embodiment one.
Embodiment four
This routine six degree of freedom G shape arm real-time imaging system as shown in Figure 4 and Figure 5, except track 10 is installed on the therapeutic room ground, pedestal 1 can be done on the ground along the lengthwise movement of three-dimensional therapeutic bed 9 directions, G arm pitch axis is connected to form successively by telescoping mechanism 15, vertical guide rail 16 and rotating shaft 17, telescoping mechanism 15 is connected with G arm rotating shaft 3, rotating shaft 17 is with outside pedestal 1 is connected, and all the other are with embodiment one.
Embodiment five
This routine six degree of freedom G shape arm real-time imaging system is the amorphous silicon flat panel detector except X ray plane dynamic instrumentation plate, and all the other are with embodiment four.
Claims (4)
1. six degree of freedom G shape arm real-time imaging system, it is characterized in that six degree of freedom G shape arm real-time imaging system is by G shape arm (11), G arm slide rail (6), G arm rotating shaft (3), G arm pitch axis (2) and pedestal (1) connect and compose successively, x ray generator (4) and X ray plane dynamic instrumentation plate (8) are one group, x ray generator (7) and X ray plane dynamic instrumentation plate (5) are another group, two groups of correspondences are installed on the G shape arm (11), pedestal (1) is installed in the track (10), track (10) is installed on therapeutic room's ceiling (12) or the ground, makes pedestal (1) do two dimensional motion or do on the ground along the lengthwise movement of three-dimensional therapeutic bed (9) direction in ceiling plane.
2. six degree of freedom G shape arm real-time imaging according to claim 1 system, it is characterized in that described G shape arm (11) can move up and down, the bootable two groups of x ray generators of G arm slide rail (6) and X ray plane dynamic instrumentation plate are done the motion greater than 90 degree, G shape arm (11) can be around G arm rotating shaft (3) ± 90 ° rotation, can be around G arm pitch axis (2) swing ± 15 °; X ray generator (4), (7) and X ray plane dynamic instrumentation plate (5), (8) add fixedly in the mode of being slidingly connected, and screw is installed in G shape arm (11) both sides, be mutual vertical or out of plumb in order to regulate the line of two groups of x ray generators and X ray plane dynamic instrumentation plate, x ray generator is a kilovolt level, adjustable between 80～150kV, X ray plane dynamic instrumentation plate is CCD image amplifier or amorphous silicon flat panel detector or amorphous selenium flat-bed detector, and dynamic instrumentation plate maximum useful detection area in X ray plane can reach 41cm x 41cm.
3. six degree of freedom G shape arm real-time imaging according to claim 1 system, when it is characterized in that described track (10) is installed in therapeutic room's ceiling (12) and goes up, track (10) is made up of two orthogonal minute guide rails (13) and branch guide rail (14).
4. six degree of freedom G shape arm real-time imaging according to claim 1 system, when it is characterized in that described track (10) is installed on the ground, G arm pitch axis is connected to form successively by telescoping mechanism (15), vertical guide rail (16) and rotating shaft (17), telescoping mechanism (15) is connected with G arm rotating shaft (3), and rotating shaft (17) is connected with pedestal (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320164852 CN203220379U (en) | 2013-04-06 | 2013-04-06 | Six-freedom degree G-shaped arm real-time imaging system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320164852 CN203220379U (en) | 2013-04-06 | 2013-04-06 | Six-freedom degree G-shaped arm real-time imaging system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203220379U true CN203220379U (en) | 2013-10-02 |
Family
ID=49247397
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320164852 Expired - Lifetime CN203220379U (en) | 2013-04-06 | 2013-04-06 | Six-freedom degree G-shaped arm real-time imaging system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203220379U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103211610A (en) * | 2013-04-06 | 2013-07-24 | 成都威铭科技有限公司 | Real-time imaging system of six-freedom-degree G-shaped arm |
| WO2015161669A1 (en) * | 2014-04-22 | 2015-10-29 | 北京东方惠尔图像技术有限公司 | Dual-plane x-ray imaging apparatus |
| CN107456242A (en) * | 2017-09-22 | 2017-12-12 | 江苏美伦影像系统有限公司 | A kind of oral cavity tomography system based on curve panoramic scanning |
| US10820871B1 (en) | 2019-08-09 | 2020-11-03 | GE Precision Healthcare LLC | Mobile X-ray imaging system including a parallel robotic structure |
-
2013
- 2013-04-06 CN CN 201320164852 patent/CN203220379U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103211610A (en) * | 2013-04-06 | 2013-07-24 | 成都威铭科技有限公司 | Real-time imaging system of six-freedom-degree G-shaped arm |
| WO2015161669A1 (en) * | 2014-04-22 | 2015-10-29 | 北京东方惠尔图像技术有限公司 | Dual-plane x-ray imaging apparatus |
| CN107456242A (en) * | 2017-09-22 | 2017-12-12 | 江苏美伦影像系统有限公司 | A kind of oral cavity tomography system based on curve panoramic scanning |
| US10820871B1 (en) | 2019-08-09 | 2020-11-03 | GE Precision Healthcare LLC | Mobile X-ray imaging system including a parallel robotic structure |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11896850B2 (en) | Online angle selection in rotational imaging and tracking systems | |
| US10709903B2 (en) | Gantry image guided radiotherapy system and related treatment delivery methods | |
| US11691029B2 (en) | Offline angle selection in rotational imaging and tracking systems | |
| CN103143124B (en) | Robot is without wound radiotherapy system | |
| Kamino et al. | Development of a four-dimensional image-guided radiotherapy system with a gimbaled X-ray head | |
| CN101102813B (en) | Patient positioning imaging device and method | |
| CN203220692U (en) | Real-time image automatic tracking system | |
| CN103099630B (en) | Locating method of target organ in tumor radiotherapy | |
| CN203220379U (en) | Six-freedom degree G-shaped arm real-time imaging system | |
| CN102233158B (en) | Image-guided radiotherapy device | |
| JPWO2018168766A1 (en) | Radiotherapy equipment | |
| CN103211610A (en) | Real-time imaging system of six-freedom-degree G-shaped arm | |
| De Koste et al. | Procedures for high precision setup verification and correction of lung cancer patients using CT-simulation and digitally reconstructed radiographs (DRR) | |
| CN202875358U (en) | Device for positioning target organ during tumor radiotherapy |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| ASS | Succession or assignment of patent right |
Owner name: YAO JIN WEI CHONGGAO LI CHAO Effective date: 20140326 Owner name: WU DAKE Free format text: FORMER OWNER: CHENGDU WEIMING TECHNOLOGY CO., LTD. Effective date: 20140326 |
|
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20140326 Address after: 2 610041 yuan 7, Section 8, No. four, No. 55, South Renmin Road, Chengdu, Sichuan, Wuhou District Patentee after: Wu Dake Patentee after: Yao Jin Patentee after: Wei Chonggao Patentee after: Li Chao Address before: 108, room 6, building 1480, hi tech incubator Park, north section of Tianfu Road, Chengdu hi tech Zone, Sichuan, 610041 Patentee before: CHENGDU WEIMING TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right |
Effective date of registration: 20171016 Address after: 2 610041 yuan 7, Section 8, No. four, No. 55, South Renmin Road, Chengdu, Sichuan, Wuhou District Co-patentee after: Yao Jin Patentee after: Wu Dake Co-patentee after: Wei Chonggao Address before: 2 610041 yuan 7, Section 8, No. four, No. 55, South Renmin Road, Chengdu, Sichuan, Wuhou District Co-patentee before: Yao Jin Patentee before: Wu Dake Co-patentee before: Wei Chonggao Co-patentee before: Li Chao |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180208 Address after: Pixian 611730 Sichuan city of Chengdu province Chengdu modern industrial port area benevolence Port Road No. 128 Patentee after: RADIATION THERAPY MEDICAL SCIENCE & TECHNOLOGY Co.,Ltd. Address before: 2 610041 yuan 7, Section 8, No. four, No. 55, South Renmin Road, Chengdu, Sichuan, Wuhou District Co-patentee before: Yao Jin Patentee before: Wu Dake Co-patentee before: Wei Chonggao |
|
| TR01 | Transfer of patent right | ||
| CX01 | Expiry of patent term |
Granted publication date: 20131002 |
|
| CX01 | Expiry of patent term |