CN204121623U - Five degree of freedom O-arm radiotherapy system - Google Patents
Five degree of freedom O-arm radiotherapy system Download PDFInfo
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- CN204121623U CN204121623U CN201420605694.7U CN201420605694U CN204121623U CN 204121623 U CN204121623 U CN 204121623U CN 201420605694 U CN201420605694 U CN 201420605694U CN 204121623 U CN204121623 U CN 204121623U
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- 238000001959 radiotherapy Methods 0.000 title claims abstract description 46
- 230000005855 radiation Effects 0.000 claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 238000006073 displacement reaction Methods 0.000 claims description 63
- 230000007306 turnover Effects 0.000 claims description 12
- 238000001514 detection method Methods 0.000 claims description 7
- 230000001360 synchronised effect Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 abstract description 10
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- 238000009434 installation Methods 0.000 abstract 1
- 239000010720 hydraulic oil Substances 0.000 description 8
- 206010028980 Neoplasm Diseases 0.000 description 5
- 238000003384 imaging method Methods 0.000 description 4
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- 230000009977 dual effect Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001225 therapeutic effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 210000000746 body region Anatomy 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
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- 238000002591 computed tomography Methods 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000002651 drug therapy Methods 0.000 description 1
- 230000005670 electromagnetic radiation Effects 0.000 description 1
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Abstract
This utility model relates to a kind of radiotherapy unit, particularly relates to a kind of five degree of freedom O-arm radiotherapy system; Comprise O-arm motion, linear accelerating apparatus, radiation dose checkout gear and two X-ray machine image detent mechanism, O-arm motion comprises O-arm, accelerator gearshift, swing offset device, flip bit moving device, horizontal cross gearshift and horizontal length travel device; Linear accelerating apparatus is arranged in O-arm by accelerator gearshift, and radiation dose checkout gear is arranged on the opposite side of relative rectilinear accelerator installation in O-arm; Two X-ray machine image detent mechanism comprises the X-ray emitter be arranged in O-arm and the X-ray receptor being arranged on relative X-ray emitter opposite side in O-arm, and X-ray emitter and X-ray receptor are two groups; Five degree of freedom O-arm radiotherapy system of the present utility model, can realize five degree of freedom control radiation therapy process, control accuracy is higher and degree of stability is higher.
Description
Technical Field
The utility model relates to a radiotherapy device, in particular to a five-degree-of-freedom O-shaped arm radiotherapy system.
Background
Tumors are one of the major diseases that endanger human health. The current main approaches to treating tumors are three: surgery, radiation and drug therapy, where the use of radiation to destroy diseased tissue is a widely used method in radiology, the world health organization reports that 45% of tumors can be cured, with up to 18% of tumors that can be cured by radiation therapy. Devices using high-energy electromagnetic radiation (X-radiation, gamma radiation) or particle radiation (electrons, protons, carbon ions) are used for this purpose. During radiotherapy, precise positioning of the patient is required to ensure that the body region to be irradiated, in particular the tumor to be irradiated, is exposed to a sufficiently high radiation dose, but at the same time as little damage to the healthy tissue of the patient is possible, which is generally done by means of X-ray imaging methods using radiation in the kilovolt (kV) energy range, in particular by means of computed tomography, and subsequently the radiation used in radiotherapy is typically located in the Megavolt (MV) energy range.
Chinese patent application No. CN200710005399.2 discloses a radiotherapy system, which comprises a turnover driving unit, an O-ring, a moving gantry, a head swing device and an irradiation device, wherein the irradiation device irradiates therapeutic radiation under the control of a radiotherapy apparatus controller, and the therapeutic radiation can irradiate an isocenter from any direction by using movement and rotation; the turnover driving unit supports the O-ring on the base support so that the O-ring can rotate around the rotating shaft, and the radiotherapy equipment further comprises a moving driving unit which rotates the moving gantry around the rotating shaft under the control of the radiotherapy equipment controller; however, in such a radiation therapy system, the controllable degree of freedom of the radiation therapy process is large, but the mass of the O-ring is usually large, the rotation of the O-ring is difficult to be accurately controlled by the flip driving unit for supporting the O-ring, and the mass distribution on the left and right sides of the O-ring is uneven due to the rotation of the moving gantry, so that the control accuracy is difficult to be effectively ensured.
The Chinese patent application No. CN201310115139.6 discloses a robot noninvasive radiotherapy system, a six-degree-of-freedom G-shaped arm real-time image 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 G-arm slide seat, an X-ray source and an X-ray dynamic flat panel detector are in one group, two groups of the X-ray source and the X-ray dynamic flat panel detector are correspondingly arranged on the G-shaped arm, the G-arm slide seat is arranged in a track, the track is arranged on a sky rail or the ground on the ceiling of a treatment room, the G-shaped arm can do lifting motion, the G-arm slide rail can guide the two groups of the X-ray source and the X-ray dynamic flat panel detector to do motion larger than 90 degrees, the G-shaped arm can rotate +/-90; however, in this kind of radiotherapy system, the quality of the real-time imaging system of the G-shaped arm is usually large and the system is installed on the ceiling, which not only puts forward high requirements on the supporting capability of the ceiling and is inconvenient to install and detach, but also the upper support mode makes the G-shaped arm shake to a large extent easily in the rotation process, which affects the precision of radiotherapy.
In view of the above-mentioned drawbacks, the present designer is actively making research and innovation to create a new type of radiotherapy system, so that the radiotherapy system has more industrial utility value.
SUMMERY OF THE UTILITY MODEL
In order to solve the above technical problem, the present invention provides a five-degree-of-freedom O-arm radiotherapy system capable of realizing a five-degree-of-freedom controlled radiotherapy process, with high control precision and high stability.
The utility model discloses a five-degree-of-freedom O-shaped arm radiotherapy system, which comprises an O-shaped arm motion mechanism, a linear accelerator device, a radiation dose detection device and a double X-ray machine image positioning mechanism, wherein the O-shaped arm motion mechanism comprises an O-shaped arm, an accelerator displacement device, a rotary displacement device, a turnover displacement device, a horizontal transverse displacement device and a horizontal longitudinal displacement device; wherein,
the horizontal longitudinal displacement device comprises first sliding rails, first sliding seats and first power units, wherein the first sliding rails and the first sliding seats are arranged on two sides of the O-shaped arm, the first power units drive the first sliding seats to relatively slide on the first sliding rails, and the number of the first sliding rails and the first sliding seats is two;
the horizontal transverse displacement device comprises a second slide rail arranged on the first slide carriage, a second slide carriage and a second power unit for driving the second slide carriage to slide on the second slide rail relatively, the second slide rail and the second slide carriage are divided into two groups, and the sliding directions of the second slide carriage and the first slide carriage are mutually vertical;
the overturning displacement device comprises a third power unit which is arranged on the second sliding seat and used for overturning the rotating displacement device, and an overturning plane of the rotating displacement device is vertical to the sliding direction of the second sliding seat;
the rotary displacement device comprises a turnover seat arranged at the output end of a third power unit and a fourth power unit, the O-shaped arm is arranged between the two turnover seats, and the fourth power unit is used for driving the relative displacement of the O-shaped arm on the turnover seat;
the linear accelerator device is mounted on the O-shaped arm through the accelerator displacement device, the accelerator displacement device is used for driving the linear accelerator device to relatively displace towards the center position of the O-shaped arm, and the radiation dose detection device is arranged on the other side, opposite to the linear accelerator device, of the O-shaped arm; the double-X-ray machine image positioning mechanism comprises an X-ray emitter arranged on the O-shaped arm and an X-ray receiver arranged on the other side, opposite to the X-ray emitter, of the O-shaped arm, and the X-ray emitter and the X-ray receiver are divided into two groups.
Furthermore, a plurality of annular sliding grooves are formed in the side face of the O-shaped arm, limiting plates are fixed to the two sides of the front end and the rear end of the turnover seat, and sliding blocks which are clamped in the sliding grooves and slide relative to the sliding blocks are arranged on the inner sides of the limiting plates.
Furthermore, first power pack includes a servo motor, first lead screw and first lead screw cover, first lead screw setting is in a servo motor's output and with first slide rail is parallel to each other, first lead screw cover is fixed in the bottom of first slide, first lead screw cover is rotatory relatively on first lead screw.
Furthermore, the second power unit comprises a second servo motor, a second screw rod and a second screw rod sleeve, the second screw rod is arranged at the output end of the second servo motor and parallel to the second slide rail, the second screw rod sleeve is fixed at the bottom of the second slide seat, and the second screw rod sleeve rotates on the second screw rod relatively.
Furthermore, the third power unit comprises a third servo motor fixed on the second sliding seat, and the overturning seat is fixed at the output end of the third servo motor.
Furthermore, the fourth power unit comprises a fourth servo motor fixed on the overturning seat and a driving gear arranged at the output end of the fourth servo motor, a synchronous belt is arranged on the outer side surface of the O-shaped arm, and the fourth servo motor is matched with and drives the O-shaped arm to move relatively on the overturning seat through the driving gear and the synchronous belt.
Furthermore, the accelerator displacement device comprises a seat plate fixed on the O-shaped arm, a fifth servo motor fixed on the seat plate, a plurality of third screw rods vertically fixed at the bottom of the seat plate, and a plurality of third screw rod sleeves fixed on the linear accelerator device, wherein the third screw rod sleeves relatively rotate on the third screw rods.
Borrow by above-mentioned scheme, the utility model discloses at least, have following advantage: the first power unit drives the O-shaped arm to displace along the horizontal longitudinal direction, the second power unit drives the O-shaped arm to displace along the horizontal transverse direction, the third power unit drives the O-shaped arm to turn over, the fourth power unit drives the O-shaped arm to rotate along the central position, and the accelerator displacement device drives the linear accelerator device to move relatively along the central position of the O-shaped arm, so that the omnibearing and multi-angle radiotherapy process can be realized through the adjustment of five degrees of freedom, the control precision is high, and the stability degree is high; the dual X-ray machine imaging positioning mechanism is performed by an X-ray imaging method using radiation in the kilovolt (kV) energy range, and the radiation used in radiotherapy by the linac device and the radiation dose detection device is in the Megavolt (MV) energy range.
The above description is only an overview of the technical solution of the present invention, and in order to make the technical means of the present invention clearer and can be implemented according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present invention and accompanying drawings.
Drawings
FIG. 1 is a front view of the five degree of freedom O-arm radiation therapy system of the present invention;
FIG. 2 is a rear view of the five degree of freedom O-arm radiation treatment system of the present invention;
FIG. 3 is a side view of the five degree-of-freedom O-arm radiation treatment system of the present invention;
FIG. 4 is an enlarged view of a portion A of FIG. 1;
FIG. 5 is a partial enlarged view of portion B of FIG. 2;
fig. 6 is a partially enlarged view of a portion C in fig. 3.
Detailed Description
The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
Referring to fig. 1 to 6, a preferred embodiment of the present invention provides a degree of freedom O-arm radiotherapy system, which comprises an O-arm moving mechanism, a linear accelerator device 101, a radiation dose detection device 102, and a dual X-ray machine image positioning mechanism, wherein the O-arm moving mechanism comprises an O-arm 201, an accelerator displacement device, a rotary displacement device, a turning displacement device, a horizontal transverse displacement device, and a horizontal longitudinal displacement device.
The horizontal longitudinal displacement device comprises a first slide rail 211, a first slide seat 212 and a first power unit 213, wherein the first slide rail 211 and the first slide seat 212 are arranged on two sides of the O-shaped arm, the first power unit 213 drives the first slide seat 212 to relatively slide on the first slide rail 211, and the number of the first slide rail 211 and the first slide seat 212 is two; the first power unit is realized in various ways, for example, 1) a hydraulic oil cylinder pushing way is adopted, the first power unit is a hydraulic oil cylinder, the first sliding seat is arranged at the output end of the hydraulic oil cylinder, and the relative sliding of the first sliding seat is pushed through the hydraulic oil cylinder; 2) the first power unit is a motor, a gear is arranged at the output end of the motor, teeth matched with the gear are arranged on the first sliding seat, and the first sliding seat is driven to slide relatively through the rotation of the gear; 3) by adopting a screw rod mode, the first power unit comprises a first servo motor, a first screw rod 214 and a first screw rod sleeve (not shown), the first screw rod 214 is arranged at the output end of the first servo motor and is parallel to the first slide rail 211, the first screw rod sleeve is fixed at the bottom of the first slide seat 212, and the first screw rod sleeve rotates on the first screw rod 214 relatively. The above is only a preferred embodiment of the first power unit, and is not used to limit the present invention, it should be noted that all the first power units capable of driving the first slide to slide relatively on the first slide rail should fall into the protection scope of the present invention. In addition, due to the horizontal longitudinal displacement device on one side of the O-shaped arm, the first power unit can realize the functions, and therefore the first power units are arranged into one group or two groups.
The horizontal transverse displacement device comprises a second slide rail 221 arranged on the first slide carriage 212, a second slide carriage 222 and a second power unit 223 driving the second slide carriage 222 to relatively slide on the second slide rail 221, the number of the second slide rail 221 and the second slide carriage 222 is two, and the sliding directions of the second slide carriage 222 and the second slide carriage 212 are mutually vertical; the second power unit is realized in various manners, for example, 1) a hydraulic oil cylinder pushing manner is adopted, the second power unit is a hydraulic oil cylinder, the second sliding seat is arranged at the output end of the hydraulic oil cylinder, and the relative sliding of the second sliding seat is pushed through the hydraulic oil cylinder; 2) the second power unit is a motor, a gear is arranged at the output end of the motor, teeth matched with the gear are arranged on the second sliding seat, and the second sliding seat is driven to slide relatively through the rotation of the gear; 3) in a lead screw manner, the second power unit includes a second servo motor, a second lead screw 224 and a second lead screw sleeve (not shown), the second lead screw 224 is disposed at an output end of the second servo motor and is parallel to the second slide rail 221, the second lead screw sleeve is fixed at the bottom of the second slide base 222, and the second lead screw sleeve rotates on the second lead screw 224 relatively. The above is only a preferred embodiment of the second power unit, and is not intended to limit the present invention, it should be noted that all the first power units capable of driving the first slide to slide relatively on the first slide rail should fall into the protection scope of the present invention. In addition, due to the horizontal transverse displacement device on one side of the O-shaped arm, the second power unit can realize the functions, and therefore the second power units are arranged into one group or two groups.
The overturning displacement device comprises a third power unit 231 which is arranged on the second sliding seat 222 and used for overturning the rotating displacement device, and the overturning plane of the rotating displacement device is vertical to the sliding direction of the second sliding seat 222; the turning displacement device can be realized in various ways, for example, a driven gear is connected to the rotary displacement device, a driving gear is arranged at the output end of the third power unit, and the control is performed in a gear meshing manner; comparatively simple, control through the motor pivoted mode, promptly, third power unit is including fixing the third servo motor on the second slide, and the upset seat is fixed at third servo motor's output. Above only be the preferred embodiment of upset displacement device, not be used for the restriction the utility model discloses, it should be noted that all can realize the upset displacement device of drive upset rotary displacement device, all should fall into the utility model discloses a protection scope. In addition, due to the overturning displacement device on one side of the O-shaped arm, the third power unit can realize the functions, and therefore the third power units are arranged into one group or two groups.
The rotary displacement device comprises a turning seat 241 arranged at the output end of the third power unit 231 and a fourth power unit 242, the O-shaped arm 201 is arranged between the two groups of turning seats 241, and the fourth power unit 242 is used for driving the relative displacement of the O-shaped arm 201 on the turning seat 241; the rotary displacement device is to the rotary drive of O type arm, and the implementation has a variety, and is comparatively simple stable, and fourth power unit is including fixing the fourth servo motor on upset seat 241 and setting up the driving gear 243 at the fourth servo motor output, and the lateral surface of O type arm 201 is provided with hold-in range 244, and fourth servo motor passes through mutually supporting of driving gear 243 and hold-in range 244, drives the relative displacement of O type arm 201 on upset seat 241. The above is only a preferred embodiment of the rotary displacement device, and is not used to limit the present invention, it should be noted that all the rotary displacement devices capable of driving the O-shaped arm to rotate should fall into the protection scope of the present invention. In order to effectively stabilize the slip of O type arm 201 on upset seat 241, so that accurate control, the utility model discloses a five degree of freedom O type arm radiotherapy systems, the side of O type arm 201 is provided with a plurality of annular spouts 245, and the both sides at both ends all are fixed with limiting plate 246 around upset seat 241, and limiting plate 246's inboard is provided with the slider that clamps in the spout and relative slip. In addition, due to the rotary displacement device on one side of the O-shaped arm, the fourth power unit can realize the functions, and therefore the fourth power units are arranged into one group or two groups.
The linear accelerator device 101 is mounted on the O-shaped arm 201 through an accelerator displacement device, the accelerator displacement device is used for driving the linear accelerator device 101 to displace relatively towards the center position of the O-shaped arm 201, and the radiation dose detection device 102 is arranged on the other side of the O-shaped arm 201 relative to the linear accelerator device 101; the double-X-ray machine image positioning mechanism comprises an X-ray emitter 103 arranged on an O-shaped arm 201 and an X-ray receiver 104 arranged on the other side, opposite to the X-ray emitter 103, of the O-shaped arm 201, and the number of the X-ray emitters 103 and the X-ray receiver 104 is two. The accelerator displacement device has various implementation modes, and is simple and stable, and the accelerator displacement device comprises a seat plate 251 fixed on the O-shaped arm, a fifth servo motor 252 fixed on the seat plate, a plurality of third screw rods 253 vertically fixed at the bottom of the seat plate, and a plurality of third screw rod sleeves 254 fixed on the linear accelerator device, wherein the third screw rod sleeves 254 rotate relatively on the third screw rods 253. The above is only a preferred embodiment of the accelerator displacement device, and is not used to limit the present invention, it should be noted that all accelerator displacement devices capable of driving the relative displacement of the linear accelerator device should fall into the protection scope of the present invention.
The utility model discloses a work flow does: 1) data acquisition and modeling: adjusting the O-shaped arm and the radiotherapy bed, and acquiring a multi-mode image by X rays through an image positioning mechanism of the O-shaped arm and the double X-ray machine; establishing a mathematical model; collecting physical dose parameters of the radiotherapy system by definition and calibration of a positioning coordinate system; 2) pretreatment before radiotherapy: the multimode image and the mathematical model are registered, then the model and the three-dimensional dynamic display are established by combining with a coordinate system, a radiotherapy scheme is designed and formulated by combining with physical dose parameters of a radiotherapy system, and the whole treatment process is dynamically simulated according to the radiotherapy scheme and the three-dimensional dynamic display; 3) treatment in radiotherapy: adjusting the O-shaped arm, combining the O-shaped arm with the model, the three-dimensional dynamic display and the real-time dose verification result to obtain the positioning and registration of the three-dimensional image of the target area in the treatment, performing intervention and correction in the treatment process, and returning the correction condition to the radiotherapy scheme design and formulation step; the intervention and correction in the treatment process and the whole dynamic simulation treatment process are controlled together to automatically track, position and irradiate.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (7)
1. A five-degree-of-freedom O-shaped arm radiotherapy system is characterized in that: the X-ray machine comprises an O-shaped arm movement mechanism, a linear accelerator device, a radiation dose detection device and a double X-ray machine image positioning mechanism, wherein the O-shaped arm movement mechanism comprises an O-shaped arm, an accelerator displacement device, a rotary displacement device, an overturning displacement device, a horizontal transverse displacement device and a horizontal longitudinal displacement device; wherein,
the horizontal longitudinal displacement device comprises first sliding rails, first sliding seats and first power units, wherein the first sliding rails and the first sliding seats are arranged on two sides of the O-shaped arm, the first power units drive the first sliding seats to relatively slide on the first sliding rails, and the number of the first sliding rails and the first sliding seats is two;
the horizontal transverse displacement device comprises a second slide rail arranged on the first slide carriage, a second slide carriage and a second power unit for driving the second slide carriage to slide on the second slide rail relatively, the second slide rail and the second slide carriage are divided into two groups, and the sliding directions of the second slide carriage and the first slide carriage are mutually vertical;
the overturning displacement device comprises a third power unit which is arranged on the second sliding seat and used for overturning the rotating displacement device, and an overturning plane of the rotating displacement device is vertical to the sliding direction of the second sliding seat;
the rotary displacement device comprises a turnover seat arranged at the output end of a third power unit and a fourth power unit, the O-shaped arm is arranged between the two turnover seats, and the fourth power unit is used for driving the relative displacement of the O-shaped arm on the turnover seat;
the linear accelerator device is mounted on the O-shaped arm through the accelerator displacement device, the accelerator displacement device is used for driving the linear accelerator device to relatively displace towards the center position of the O-shaped arm, and the radiation dose detection device is arranged on the other side, opposite to the linear accelerator device, of the O-shaped arm; the double-X-ray machine image positioning mechanism comprises an X-ray emitter arranged on the O-shaped arm and an X-ray receiver arranged on the other side, opposite to the X-ray emitter, of the O-shaped arm, and the X-ray emitter and the X-ray receiver are divided into two groups.
2. The five degree-of-freedom O-arm radiation therapy system of claim 1, wherein: the side of the O-shaped arm is provided with a plurality of annular sliding grooves, limiting plates are fixed on two sides of the front end and the rear end of the turnover seat, and sliding blocks which are clamped in the sliding grooves and slide relatively are arranged on the inner sides of the limiting plates.
3. The five degree-of-freedom O-arm radiation therapy system of claim 1, wherein: the first power unit comprises a first servo motor, a first screw rod and a first screw rod sleeve, the first screw rod is arranged at the output end of the first servo motor and parallel to the first sliding rail, the first screw rod sleeve is fixed at the bottom of the first sliding seat, and the first screw rod sleeve rotates on the first screw rod relatively.
4. The five degree-of-freedom O-arm radiation therapy system of claim 1, wherein: the second power unit comprises a second servo motor, a second screw rod and a second screw rod sleeve, the second screw rod is arranged at the output end of the second servo motor and parallel to the second sliding rail, the second screw rod sleeve is fixed at the bottom of the second sliding seat, and the second screw rod sleeve rotates on the second screw rod relatively.
5. The five degree-of-freedom O-arm radiation therapy system of claim 1, wherein: the third power unit comprises a third servo motor fixed on the second sliding seat, and the overturning seat is fixed at the output end of the third servo motor.
6. The five degree-of-freedom O-arm radiation therapy system of claim 1, wherein: the fourth power unit comprises a fourth servo motor fixed on the overturning seat and a driving gear arranged at the output end of the fourth servo motor, a synchronous belt is arranged on the outer side surface of the O-shaped arm, and the fourth servo motor drives the O-shaped arm to move relatively on the overturning seat through the mutual matching of the driving gear and the synchronous belt.
7. The five degree-of-freedom O-arm radiation therapy system of claim 1, wherein: the accelerator displacement device comprises a seat plate fixed on the O-shaped arm, a fifth servo motor fixed on the seat plate, a plurality of third screw rods vertically fixed at the bottom of the seat plate, and a plurality of third screw rod sleeves fixed on the linear accelerator device, wherein the third screw rods are sleeved on the third screw rods to rotate relatively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420605694.7U CN204121623U (en) | 2014-10-20 | 2014-10-20 | Five degree of freedom O-arm radiotherapy system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420605694.7U CN204121623U (en) | 2014-10-20 | 2014-10-20 | Five degree of freedom O-arm radiotherapy system |
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| Publication Number | Publication Date |
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| CN204121623U true CN204121623U (en) | 2015-01-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420605694.7U Withdrawn - After Issue CN204121623U (en) | 2014-10-20 | 2014-10-20 | Five degree of freedom O-arm radiotherapy system |
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| CN (1) | CN204121623U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104307114A (en) * | 2014-10-20 | 2015-01-28 | 苏州大学张家港工业技术研究院 | Five degree of freedom O-shaped arm radiation therapy system |
| WO2016061877A1 (en) * | 2014-10-20 | 2016-04-28 | 苏州大学张家港工业技术研究院 | Radiation therapy system |
-
2014
- 2014-10-20 CN CN201420605694.7U patent/CN204121623U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104307114A (en) * | 2014-10-20 | 2015-01-28 | 苏州大学张家港工业技术研究院 | Five degree of freedom O-shaped arm radiation therapy system |
| WO2016061877A1 (en) * | 2014-10-20 | 2016-04-28 | 苏州大学张家港工业技术研究院 | Radiation therapy system |
| CN104307114B (en) * | 2014-10-20 | 2017-04-05 | 苏州大学张家港工业技术研究院 | Five degree of freedom O-arm radiotherapy system |
| US10293186B2 (en) | 2014-10-20 | 2019-05-21 | Soochow University | Radiation therapy system |
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