CN205215971U - Multi freedom radiation therapy bed - Google Patents
Multi freedom radiation therapy bed Download PDFInfo
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- CN205215971U CN205215971U CN201521004167.1U CN201521004167U CN205215971U CN 205215971 U CN205215971 U CN 205215971U CN 201521004167 U CN201521004167 U CN 201521004167U CN 205215971 U CN205215971 U CN 205215971U
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Abstract
The utility model provides a multi freedom radiation therapy bed, multi freedom radiation therapy bed includes: a pedestal. First platform is located on the base, first platform is equipped with the spout, make first platform is done and is deflected and the three -dimensional supporting mechanism that removes, connects first platform with between the base, slider sets up in the spout, the second platform is located first platform top and with slider rotates the connection. The utility model discloses a multi freedom radiation therapy bed has all -round 6 -degree of freedom motion ability and sufficient motion scope in the three dimensions, therefore, better flexibility has.
Description
Technical field
This utility model relates to medical instruments field, is specifically related to a kind of multiple degrees of freedom radiation therapeutical bed.
Background technology
Along with radiocurable universal, doctor can locate accurately patient illness part in radiation therapy process, and provided 3-D view is provided corresponding radiotherapy is carried out to lesions position, thus reduce the injury to other normal structures, to reach the object of effectively treating patient.Be ingredient important in whole therapy system by the therapeutic bed of institute of robot support and control, therapeutic bed by mobile, can rotate, and slides thus can realize the radiotherapy of multiple angle.
In the radiation therapy technology that the radiotherapy of multi-angle pencil beam, proton and heavy ion radiotherapy etc. are advanced, need that high flexible, stability are better, response speed faster therapeutic bed to carry patient.But the volume of therapeutic bed equipment is large at present, and kinematic dexterity is limited.
In sum, at least there is following problem in prior art: the kinematic dexterity of therapeutic bed is bad.
Utility model content
This utility model provides a kind of multiple degrees of freedom radiation therapeutical bed, with the problem that the kinematic dexterity solving therapeutic bed is bad.
For this reason, the utility model proposes a kind of multiple degrees of freedom radiation therapeutical bed, described multiple degrees of freedom radiation therapeutical bed comprises:
Base;
First platform, is positioned on described base, and described first platform is provided with chute;
Make described first platform do the supporting mechanism of deflection and three-dimensional movement, be connected between described first platform and described base;
Carriage, is arranged in described chute;
Second platform, to be positioned at above described first platform and to be rotationally connected with described carriage.
Further, described carriage is provided with carriage rotation section, and described second platform is provided with platform rotation section, and described carriage rotation section and described platform rotation section form revolute pair.
Further, described supporting mechanism comprises at least one side chain, and described side chain is retractable telescoping structure, the bottom of described side chain and the hinged of base, and top and described first platform of described side chain are hinged.
Further, described side chain comprises:
Sleeve pipe, the bottom of sleeve pipe is hinged on described base;
Carriage release lever, the bottom of carriage release lever is connected to the top of described sleeve pipe, and can stretch in the bottom of described carriage release lever in described sleeve pipe; The top of described carriage release lever is hinged on described first platform.
Further, described side chain comprises:
Sleeve pipe, the top of sleeve pipe is hinged on described first platform;
Carriage release lever, the top of carriage release lever is connected to the bottom of described sleeve pipe, and can stretch in the top of described carriage release lever in described sleeve pipe; The bottom of described carriage release lever is hinged on described base.
Further, described supporting mechanism comprises the side chain of multiple parallel connection.
Further, described supporting mechanism comprises six side chains in parallel, the pin joint of six side chains and base forms the first triangle, and the pin joint of six side chains and described first platform forms the second triangle, and the first triangle and the second triangle are centrosymmetric respectively.
Further, described side chain also comprises: be arranged on the bottom hinge seat on base, the top hinge seat be arranged on described first platform, be arranged on the hinge connector of the bottom of described side chain and be arranged on the hinge connector on top of described side chain;
The hinge connector of the bottom of described bottom hinge seat and side chain forms the hinge engaging structure of bottom; The hinge connector on the top of top hinge seat and side chain forms the hinge engaging structure at top.
Further, the hinge engaging structure of described bottom is cross-garnet butt mechanism or spherical hinge structure.
Further, described carriage is slide block, and described slide block is provided with rotating shaft or rotating disk, and described second platform is provided with the groove holding described rotating shaft or rotating disk.
In this utility model, carriage can slide in the first platform, therefore, can realize the translation of relative first platform, and the second platform and described carriage is rotationally connected, so the second platform can rotate relative to the first platform.In addition, make described first platform do the supporting mechanism of deflection and three-dimensional movement, be connected between described first platform and described base, therefore, the second platform can be driven to do deflection for the first platform and three-dimensional moves.So multiple degrees of freedom radiation therapeutical bed of the present utility model, has the comprehensive six-freedom motion ability in three dimensions and sufficient range of movement, thus, has good motility.
And then above-mentioned multiple degrees of freedom combination is got up, make whole therapeutic bed have redundant degree of freedom, ensure that multiple degrees of freedom radiation therapeutical bed occupies space less.When controlling multiple degrees of freedom radiotherapy bed motion, redundant degree of freedom makes each drive secondary motion not to be well-determined, but flexible and optimization can be carried out according to practical situation, thus complete radiotherapy over the course for the treatment of and can be irradiated to patient's affected area under arbitrarily angled, reduce the infringement of normal tissue, reach the object of efficient treatment.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of multiple degrees of freedom radiation therapeutical bed of the present utility model;
Fig. 2 is the structural representation of side chain of the present utility model;
Fig. 3 is the decomposition texture schematic diagram of carriage of the present utility model and the second platform;
Fig. 4 is the schematic diagram of the freedom of motion of multiple degrees of freedom radiation therapeutical bed of the present utility model;
Fig. 5 is the first state of multiple degrees of freedom radiation therapeutical bed of the present utility model;
Fig. 6 is the second state of multiple degrees of freedom radiation therapeutical bed of the present utility model;
Fig. 7 is the third state of multiple degrees of freedom radiation therapeutical bed of the present utility model;
Fig. 8 is the 4th kind of state of multiple degrees of freedom radiation therapeutical bed of the present utility model;
Fig. 9 is the 5th kind of state of multiple degrees of freedom radiation therapeutical bed of the present utility model;
Figure 10 is the 6th kind of state of multiple degrees of freedom radiation therapeutical bed of the present utility model.
Drawing reference numeral illustrates:
1 base 2 bottom hinge seat 3 hinge connector 4 sleeve pipe 5 carriage release lever 6 hinge connector 7 top hinge seat 8 carriage 9 first platform 10 second platform 20 horizontal direction 30 circumferencial direction 91 chute
Detailed description of the invention
In order to there be understanding clearly to technical characteristic of the present utility model, object and effect, now contrast accompanying drawing and this utility model is described.
As shown in Figure 1, the utility model proposes a kind of multiple degrees of freedom radiation therapeutical bed, described multiple degrees of freedom radiation therapeutical bed comprises:
Base 1, can be arranged on a mobile device, or be fixed on assigned address, or be arranged on floor;
First platform 9, is positioned on described base 1, and as shown in Figure 3, described first platform 9 is provided with chute 91;
Make described first platform do the supporting mechanism of deflection and three-dimensional movement, be connected between described first platform 9 and described base 1;
Carriage 8, is arranged in described chute 91, and carriage 8 can slide by relative first platform 9;
Second platform 10, to be positioned at above described first platform 9 and to be rotationally connected with described carriage 8.Carriage can slide in the first platform, therefore, the translation of relative first platform can be realized, and due to the second platform 10 can be identical with the length direction of the first platform 9, chute 91 can be the length direction of the first platform 9, and therefore the scope of this translation is larger, and the second platform 10 is rotationally connected with described carriage, so the second platform 10 can rotate relative to the first platform 9, can realize the rotary motion perpendicular with the bed surface of the second platform 10.In addition, make described first platform 9 do the supporting mechanism of deflection and three-dimensional movement, be connected between described first platform and described base, therefore, the second platform 10 can be driven to do deflection for the first platform 9 and three-dimensional moves.So multiple degrees of freedom radiation therapeutical bed of the present utility model, has the comprehensive six-freedom motion ability in three dimensions and sufficient range of movement, thus, has good motility.
Further, as shown in Figure 3, described carriage 8 is provided with carriage rotation section 81, and described second platform 10 is provided with platform rotation section, and described carriage rotation section and described platform rotation section form revolute pair.Installation and removal are convenient in being rotationally connected like this.Further, described carriage 8 is slide block, and described slide block is provided with rotating shaft or rotating disk, and namely carriage rotation section 81 is rotating shaft or rotating disk, and described second platform 10 is provided with the groove holding described rotating shaft or rotating disk, and namely platform rotation section is groove.Like this, processing and easy for installation.
Further, described supporting mechanism comprises at least one side chain, and described side chain is telescopic telescoping structure, the bottom of described side chain and the hinged of base, and top and described second platform of described side chain are hinged.By this telescopic telescoping structure, can make in compact space described first platform do deflection and three-dimensional move.
Further, as shown in Figure 2, described side chain comprises:
Sleeve pipe 4, the bottom of sleeve pipe is hinged on described base 1;
Carriage release lever 5, the bottom of carriage release lever is connected to the top of described sleeve pipe 4, and can stretch in the bottom of described carriage release lever 5 in described sleeve pipe 4; The top of described carriage release lever 5 is hinged on described first platform 9.Like this, deflection and the three-dimensional that can realize the first platform 9 easily move.
Alternatively telescoping structure, described side chain comprises:
Sleeve pipe, the top of sleeve pipe is hinged on described first platform;
Carriage release lever, the top of carriage release lever is connected to the bottom of described sleeve pipe, and can stretch in the top of described carriage release lever in described sleeve pipe; The bottom of described carriage release lever is hinged on described base.
This telescoping structure, is placed into top by sleeve pipe from bottom, and carriage release lever is moved to bottom from top, also can realize making described first platform do the function of deflection and three-dimensional movement.
Further, as shown in Figure 1, described supporting mechanism comprises the side chain of multiple parallel connection.This parallel layout effectively can reduce the overall inertia of mechanism, ensures that the motion of moving platform 9 has high accuracy and high rigidity.Second platform 10 and the first platform 9 are formed and are connected in series, and a chain formation for multiple parallel connection is connected in parallel, and the two forms the hybrid mechanism that has redundant degree of freedom jointly.Topological structure based on parallel connection comes design robot radiation therapy bed mechanism, and increase the moving range that the larger serial mechanism of reach area expands bed surface, base can be made to reduce overall inertia and provide better stability and accuracy, and compact structure can reduce taking of space.
Further, as shown in Figure 1, described supporting mechanism comprises six side chains in parallel, and six side chains are one group with two respectively and are arranged on a pin joint place.The pin joint of six side chains and base forms the first triangle (wherein, two side chains or phase-polymerization crossing with the pin joint of base), the pin joint of six side chains and described first platform forms the second triangle (wherein, two side chains or phase-polymerization crossing with the pin joint of the first platform), the first triangle and the second triangle are centrosymmetric.The bikini that the pin joint of each side chain and base is centrosymmetric is arranged, the bikini that the pin joint of each side chain and described first platform is centrosymmetric is arranged.Like this, reasonable stress, degree of freedom is also larger.Better, take up room little, base 1 can be set to Samsung shape or triangular shaped, lightweight, easily manufactured for 3 distributed shape and structure opposing circular or rectangular fixed platform structural stability.The shape of the first platform and the second platform and size can change according to the demand in the build of patient and radiation therapy process, thus regulate effective carrying scope of whole therapeutic bed.In addition, side chain in parallel can be less than 6, for the first platform provides different degree of freedom to select.
Further, as shown in Figure 2, described side chain also comprises: be arranged on the bottom hinge seat 2 on base, the top hinge seat 7 be arranged on described first platform, be arranged on the hinge connector 3 of the bottom of described side chain and be arranged on the hinge connector 6 on top of described side chain;
Described bottom hinge seat 3 and the hinge connector 2 of the bottom of side chain form the hinge engaging structure of bottom; Top hinge seat 7 forms the hinge engaging structure at top with the hinge connector 6 on the top of side chain.
Further, hinge connector 3 and hinge connector 6 are cross-garnet butt block, and top hinge seat 7 and bottom hinge seat 2 are cross-garnet butt seat.In addition, also cross-garnet butt block and cross-garnet butt seat can be replaced with spherical hinge and spherical hinge seat.Like this, can realize being connected flexibly with firmly.
Multiple degrees of freedom radiation therapeutical bed of the present utility model can have various states or locus, Fig. 4 shows degree of freedom or the direction of motion of multiple degrees of freedom radiation therapeutical bed, from Fig. 4, can find out, the second platform 10 can linearly slide by 20 relative first platforms 9; Second platform 10 can circumferentially rotate relative to the first platform 9 in direction 30; The movement of these two states can be able to complete without the need to the motion of side chain.In addition, by the motion of side chain, the second platform 10 and the first platform 9 can be realized along x-axis, y-axis, the translation in z-axis direction, the second platform 10 and the relative x-axis of the first platform 9 can also be realized, y-axis, the deflection of z-axis direction different angles, like this, multiple degrees of freedom radiation therapeutical bed has comprehensive six-freedom motion ability in three dimensions and sufficient range of movement, has redundant degree of freedom, ensures that multiple degrees of freedom radiation therapeutical bed occupies space less.
Fig. 5 to Figure 10 such as shows wherein several state or the locus of multiple degrees of freedom radiation therapeutical bed.As shown in Figure 5, in a first state, the second platform 10 does not have relative first platform 9 to slide to multiple degrees of freedom radiation therapeutical bed, and the second platform 10 is in horizontal direction; As shown in Figure 6, under the second state of multiple degrees of freedom radiation therapeutical bed, relative to the first state, relative first platform 9 of the second platform 10 slides; As shown in Figure 7, under the third state of multiple degrees of freedom radiation therapeutical bed, relative to the first state, the second platform 10 and the first platform 9 deflect to the right; As shown in Figure 8, relative to the first state, under the 4th kind of state of multiple degrees of freedom radiation therapeutical bed, the second platform 10 rotates relative to the first platform 9; As shown in Figure 9, under the 5th kind of state of multiple degrees of freedom radiation therapeutical bed, relative to the first state, the second platform 10 and the first platform 9 shifted forward; As shown in Figure 10, under the 6th kind of state of multiple degrees of freedom radiation therapeutical bed, relative to the first state, the second platform 10 and the first platform 9 deflect to upper right side.State or the locus of multiple degrees of freedom radiation therapeutical bed of the present utility model are not limited to this, have more change.
Multiple degrees of freedom radiation therapeutical bed mechanism of the present utility model is compact, rotation is flexible, monolithic stability, bearing capacity are strong.Serial mechanism between first platform and the second platform completes motion by driving moving sets and revolute pair, and supporting mechanism in parallel completes motion by driving the moving sets of each side chain middle sleeve formula structure.Serial mechanism is combined with parallel institution and makes therapeutic bed have redundant degree of freedom, ensures that robot body occupies space less and make second platform 10 of robot end have comprehensive six-freedom motion ability in three dimensions and sufficient range of movement.When control second platform 10 moves, redundant degree of freedom makes each drive secondary motion not to be well-determined, but flexible and optimization can be carried out according to practical situation, thus complete radiotherapy over the course for the treatment of and can be irradiated to patient's affected area under arbitrarily angled, reduce the infringement of normal tissue, reach the object of efficient treatment.
Series-parallel connection multiple degrees of freedom radiation therapeutical bed of the present utility model adopts series-parallel mode, not only there is the large advantage of serial mechanism activity space but also there is the fast advantage of parallel institution high precision high rigidity response speed, better flexibility ratio is provided by redundant degree of freedom configuration, reduce overall inertia by six bars (side chain) parallel institution better stability is provided and reduces taking of therapeutic room space, by the movement of six bar parallel institutions and treatment bed board with rotate and control the multi-angle radiotherapy that can be implemented in radiation therapy process, and effective carrying scope of whole therapeutic bed can be regulated by the shape and size changing the first platform and the second platform.
The foregoing is only the schematic detailed description of the invention of this utility model, and be not used to limit scope of the present utility model.For each ingredient of the present utility model can mutually combine under the condition of not conflicting; any those skilled in the art; equivalent variations done under the prerequisite not departing from design of the present utility model and principle and amendment, all should belong to the scope of this utility model protection.
Claims (10)
1. a multiple degrees of freedom radiation therapeutical bed, is characterized in that, described multiple degrees of freedom radiation therapeutical bed comprises:
Base;
First platform, is positioned on described base, and described first platform is provided with chute;
Make described first platform do the supporting mechanism of deflection and three-dimensional movement, be connected between described first platform and described base;
Carriage, is arranged in described chute;
Second platform, to be positioned at above described first platform and to be rotationally connected with described carriage.
2. multiple degrees of freedom radiation therapeutical bed as claimed in claim 1, it is characterized in that, described carriage is provided with carriage rotation section, and described second platform is provided with platform rotation section, and described carriage rotation section and described platform rotation section form revolute pair.
3. multiple degrees of freedom radiation therapeutical bed as claimed in claim 2, it is characterized in that, described supporting mechanism comprises at least one side chain, and described side chain is retractable telescoping structure, bottom and the base of described side chain are hinged, and top and described first platform of described side chain are hinged.
4. multiple degrees of freedom radiation therapeutical bed as claimed in claim 3, it is characterized in that, described side chain comprises:
Sleeve pipe, the bottom of sleeve pipe is hinged on described base;
Carriage release lever, the bottom of carriage release lever is connected to the top of described sleeve pipe, and can stretch in the bottom of described carriage release lever in described sleeve pipe; The top of described carriage release lever is hinged on described first platform.
5. multiple degrees of freedom radiation therapeutical bed as claimed in claim 3, it is characterized in that, described side chain comprises:
Sleeve pipe, the top of sleeve pipe is hinged on described first platform;
Carriage release lever, the top of carriage release lever is connected to the bottom of described sleeve pipe, and can stretch in the top of described carriage release lever in described sleeve pipe; The bottom of described carriage release lever is hinged on described base.
6. the multiple degrees of freedom radiation therapeutical bed as described in claim 4 or 5, is characterized in that, described supporting mechanism comprises the side chain of multiple parallel connection.
7. the multiple degrees of freedom radiation therapeutical bed as described in claim 4 or 5, it is characterized in that, described supporting mechanism comprises six side chains in parallel, the pin joint of six side chains and base forms the first triangle, the pin joint of six side chains and described first platform forms the second triangle, and the first triangle and the second triangle are centrosymmetric respectively.
8. multiple degrees of freedom radiation therapeutical bed as claimed in claim 3, it is characterized in that, described side chain also comprises: be arranged on the bottom hinge seat on base, the top hinge seat be arranged on described first platform, be arranged on the hinge connector of the bottom of described side chain and be arranged on the hinge connector on top of described side chain;
The hinge connector of the bottom of described bottom hinge seat and side chain forms the hinge engaging structure of bottom; The hinge connector on the top of top hinge seat and side chain forms the hinge engaging structure at top.
9. multiple degrees of freedom radiation therapeutical bed as claimed in claim 8, it is characterized in that, the hinge engaging structure of described bottom is cross-garnet butt mechanism or spherical hinge structure.
10. multiple degrees of freedom radiation therapeutical bed as claimed in claim 1, it is characterized in that, described carriage is slide block, and described slide block is provided with rotating shaft or rotating disk, and described second platform is provided with the groove holding described rotating shaft or rotating disk.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521004167.1U CN205215971U (en) | 2015-12-04 | 2015-12-04 | Multi freedom radiation therapy bed |
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| CN201521004167.1U CN205215971U (en) | 2015-12-04 | 2015-12-04 | Multi freedom radiation therapy bed |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105327458A (en) * | 2015-12-04 | 2016-02-17 | 深圳先进技术研究院 | Multi-degree-of-freedom radiotherapeutic bed |
| CN107007946A (en) * | 2017-06-06 | 2017-08-04 | 成都博士科技有限公司 | It is a kind of to be used for proton and the automatic chair of heavy particle therapy incidence cancer |
| CN107952176A (en) * | 2017-12-12 | 2018-04-24 | 山东省肿瘤防治研究院 | A kind of multifunctional tumor therapeutic equipment with specific electromagnetic wave, stifling, moxa-moxibustion and leg bath |
| CN108042929A (en) * | 2017-12-26 | 2018-05-18 | 戴建荣 | Introoperative radiotherapy device |
| CN111012352A (en) * | 2019-12-31 | 2020-04-17 | 山东奥新医疗科技有限公司 | Sickbed for extremity magnetic resonance imaging |
| CN113194835A (en) * | 2018-08-24 | 2021-07-30 | 医用射束实验室有限责任公司 | Beam delivery platform and positioning system |
| CN113384289A (en) * | 2021-06-01 | 2021-09-14 | 四川大学华西医院 | Knee joint lateral position X-ray automatic detection bed and detection method thereof |
-
2015
- 2015-12-04 CN CN201521004167.1U patent/CN205215971U/en active Active
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105327458A (en) * | 2015-12-04 | 2016-02-17 | 深圳先进技术研究院 | Multi-degree-of-freedom radiotherapeutic bed |
| WO2017092105A1 (en) * | 2015-12-04 | 2017-06-08 | 中国科学院深圳先进技术研究院 | Radiation therapy bed with multiple degrees of freedom |
| CN107007946A (en) * | 2017-06-06 | 2017-08-04 | 成都博士科技有限公司 | It is a kind of to be used for proton and the automatic chair of heavy particle therapy incidence cancer |
| CN107952176A (en) * | 2017-12-12 | 2018-04-24 | 山东省肿瘤防治研究院 | A kind of multifunctional tumor therapeutic equipment with specific electromagnetic wave, stifling, moxa-moxibustion and leg bath |
| CN107952176B (en) * | 2017-12-12 | 2019-11-22 | 山东省肿瘤防治研究院 | A kind of multifunctional tumor therapeutic equipment with specific electromagnetic wave, stifling, moxa-moxibustion and leg bath |
| CN108042929A (en) * | 2017-12-26 | 2018-05-18 | 戴建荣 | Introoperative radiotherapy device |
| CN108042929B (en) * | 2017-12-26 | 2023-12-22 | 戴建荣 | Intraoperative radiation treatment device |
| CN113194835A (en) * | 2018-08-24 | 2021-07-30 | 医用射束实验室有限责任公司 | Beam delivery platform and positioning system |
| CN111012352A (en) * | 2019-12-31 | 2020-04-17 | 山东奥新医疗科技有限公司 | Sickbed for extremity magnetic resonance imaging |
| CN113384289A (en) * | 2021-06-01 | 2021-09-14 | 四川大学华西医院 | Knee joint lateral position X-ray automatic detection bed and detection method thereof |
| CN113384289B (en) * | 2021-06-01 | 2022-11-01 | 四川大学华西医院 | Knee joint lateral position X-ray automatic detection bed and detection method thereof |
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